- Tytuł:
- Euler-Poincare reduction of externally forced rigid body motion
- Autorzy:
-
Wiśniewski, R.
Kulczycki, P. - Powiązania:
- https://bibliotekanauki.pl/articles/970328.pdf
- Data publikacji:
- 2004
- Wydawca:
- Polska Akademia Nauk. Instytut Badań Systemowych PAN
- Tematy:
-
modelowanie
sterowanie
ruch ciała sztywnego
mechanika Lagrange'a
kształtowanie energetyczne
modelling
control
rigid body motion
Lagrange mechanics
energy shaping - Opis:
- If a mechanical system experiences symmetry, the Lagrangian becomes invariant under a certain group action. This property leads to substantial simplification of the description of movement. The standpoint in this article is a mechanical system affected by an external force of a control action. Assuming that the system possesses symmetry and the configuration manifold corresponds to a Lie group, the Euler-Poincare reduction breaks up the motion into separate equations of dynamics and kinematics. This becomes of particular interest for modeling, estimation and control of mechanical systems. A control system generates an external force, which may break the symmetry in the dynamics. This paper shows how to model and to control a mechanical system on the reduced phase space, such that complete state space asymptotic stabilization can be achieved. The paper comprises a specialization of the well-known Euler-Poincare reduction to a rigid body motion with forcing. An example of satellite attitude control illustrates usefulness of the Euler-Poincare reduction in control engineering. This work demonstrates how the energy shaping method applies for Euler-Poincare equations.
- Źródło:
-
Control and Cybernetics; 2004, 33, 2; 297-310
0324-8569 - Pojawia się w:
- Control and Cybernetics
- Dostawca treści:
- Biblioteka Nauki
Artykuł