Controllability and motion algorithms for underactuated Lagrangian systems on Lie groups

IEEE Transactions on Automatic Control

Volumn 45, Issue 8, 2000, Pages 1437-1454

  Bullo, Francesco ^a   Leonard, Naomi Ehrich ^b,d   Lewis, Andrew D ^c  

^a University of Illinois at Urbana Champaign   (United States)

^b Princeton University   (United States)

^c QUEEN S UNIVERSITY   (Canada)

^d IEEE   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

LAGRANGIAN SYSTEMS; LIE GROUPS; UNDERACTUATED SYSTEMS;

ALGORITHMS; CONTROL SYSTEM ANALYSIS; CONTROLLABILITY; INTERPOLATION; MOTION CONTROL; PERTURBATION TECHNIQUES; SUBMERSIBLES;

NONLINEAR CONTROL SYSTEMS;

EID: 0034245374     PISSN: 00189286     EISSN: None     Source Type: Journal    
DOI: 10.1109/9.871753     Document Type: Article

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