Motion control for underactuated mechanical systems on Lie groups

ECC 1997 - European Control Conference

Volumn , Issue , 1997, Pages 1830-1835

  Bullo, Francesco ^a   Leonard, Naomi Ehrich ^b  

^a CALIFORNIA INSTITUTE OF TECHNOLOGY   (United States)

^b Princeton University   (United States)

Author keywords

Mechanical systems; Nonlinear controllability; Underactuated systems

Indexed keywords

KINETIC ENERGY; KINETICS; LIE GROUPS;

ACTIVE AREA; CONTROL DESIGN; MECHANICAL CONTROL SYSTEMS; MECHANICAL SYSTEMS; SMALL AMPLITUDE; UNDER-ACTUATED MECHANICAL SYSTEMS; UNDER-ACTUATED SYSTEMS; UNDERWATER VEHICLES;

MACHINE DESIGN;

EID: 84949092572     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.23919/ecc.1997.7082370     Document Type: Conference Paper

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