Control of mechanical systems on Lie groups based on vertically transverse functions

DOI10.1007/s00498-008-0026-zzbMath1147.93041OpenAlexW2054887154WikidataQ115387946 ScholiaQ115387946MaRDI QIDQ948947

David A. Lizárraga, José M. Sosa

Publication date: 16 October 2008

Published in: MCSS. Mathematics of Control, Signals, and Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s00498-008-0026-z

zbMATH Keywords

Lie groupsunderactuated mechanical systemssecond-order vector fieldstransverse function controlvertical transversality

Mathematics Subject Classification ID

Adaptive or robust stabilization (93D21) Control of mechanical systems (70Q05) Algebraic methods (93B25)

Related Items (3)

On the transversality of functions at the core of the transverse function approach to control ⋮ Universal Practical Tracking Control of a Planar Underactuated Vehicle ⋮ An Elementary Result On The Uniform Stability Of A Class Of Continuous Autonomous Systems

Cites Work

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• Obstructions to the existence of universal stabilizers for smooth control systems
• Structure presque tangente et connexions. I
• Conditions on a connection to be a metric connection
• A Characterization of the Lie Algebra Rank Condition by Transverse Periodic Functions
• Practical and Asymptotic Stabilization of Chained Systems by the Transverse Function Control Approach
• Practical stabilization of driftless systems on lie groups: The transverse function approach

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