Keywords: Stabilization of Non-linear Systems, Dissipative (2008)
C. A. Woolsey, A. M. Bloch, N. E. Leonard, J. E. Marsden
We describe the effect of physical dissipation on stability of equilibria which have been stabilized, in the absence of damping, using the method of controlled Lagrangians. This method applies to a...
Singular Trajectories in Multi-Input Time-Optimal (2007)
Problems Application To, M. Chyba, N. E. Leonard, E. D. Sontag
This paper addresses the time-optimal control problem for a class of control systems which includes controlled mechanical systems with possible dissipation terms. The Lie algebras associated with...
Chyba, M., Leonard, N. E., Sontag, E. D.
This paper addresses the time-optimal control problem for a class of control systems which includes controlled mechanical systems with possible dissipation terms. The Lie algebras associated with...
Dissipation and controlled Euler-Poincaré systems (2001)
C. A. Woolsey, A. M. Bloch, N. E. Leonard, J. E. Marsden
The method of controlled Lagrangians is a technique for stabilizing underactuated mechanical systems which involves modifying a system’s energy and dynamic structure through feedback. These...
Motion Control of Drift-Free, Left-Invariant Systems on Lie Groups (1994)
Leonard, N.E., Krishnaprasad, P.S.
In this paper we address the constructive controllability problem for drift free, left-invariant systems on finite-dimensional Lie groups with fewer controls than state dimension. We consider small...
Leonard, N.E., Krishnaprasad, P.S.
In this paper we present a general algorithm for constructing open-loop controls to solve the complete constructive controllability problem for drift-free invariant systems on Lie groups that satisfy...
Control Synthesis and Adaptation for an Underactuated Autonomous Underwater Vehicle (1994)
The motion of an autonomous underwater vehicle (AUV) is controllable even with reduced control authority such as in the event of an actuator failure. In this paper we describe a technique for...
Averaging and Motion Control of Systems on Lie Groups (1994)
In this dissertation, we study motion control problems in the framework of systems on finite-dimentional Lie groups. Nonholonomic motion control problems are challenging because nonlinear...
Motion Control of Drift-Free, Left-Invariant Systems on Lie Groups (1994)
Leonard, N.E., Krishnaprasad, P.S.
In this paper we address the constructive controllability problem for drift free, left-invariant systems on finite-dimensional Lie groups with fewer controls than state dimension. We consider small...
Leonard, N.E., Krishnaprasad, P.S.
In this paper we present a general algorithm for constructing open-loop controls to solve the complete constructive controllability problem for drift-free invariant systems on Lie groups that satisfy...
Control Synthesis and Adaptation for an Underactuated Autonomous Underwater Vehicle (1994)
The motion of an autonomous underwater vehicle (AUV) is controllable even with reduced control authority such as in the event of an actuator failure. In this paper we describe a technique for...
Averaging and Motion Control of Systems on Lie Groups (1994)
In this dissertation, we study motion control problems in the framework of systems on finite-dimentional Lie groups. Nonholonomic motion control problems are challenging because nonlinear...
Averaging and Motion Control On Lie Groups (1993)
Leonard, N.E., Krishnaprasad, P.S.
The deeper investigation of problems of feedback stabilization and constructive controllability has drawn increased attention to the question of structuring control systems. Thus, for instance, it is...
High-Order Averaging on Lie Groups and Control of an Autonomous Underwater Vehicle (1993)
Leonard, N.E., Krishnaprasad, P.S.
In this paper we extend our earlier results on the use of periodic forcing and averaging to solve the constructive controllability problem for drift-free left-invariant systems on Lie groups with...
Averaging and Motion Control On Lie Groups (1993)
Leonard, N.E., Krishnaprasad, P.S.
The deeper investigation of problems of feedback stabilization and constructive controllability has drawn increased attention to the question of structuring control systems. Thus, for instance, it is...
High-Order Averaging on Lie Groups and Control of an Autonomous Underwater Vehicle (1993)
Leonard, N.E., Krishnaprasad, P.S.
In this paper we extend our earlier results on the use of periodic forcing and averaging to solve the constructive controllability problem for drift-free left-invariant systems on Lie groups with...
Adaptive Friction Compensation for Bi-Directional Low-Velocity Position Tracking (1992)
Leonard, N.E., Krishnaprasad, P.S.
This paper presents a comparative investigation of friction- compensating control strategies designed to improve low-velocity position tracking performance in the presence of velocity reversals for...
Adaptive Friction Compensation for Bi-Directional Low-Velocity Position Tracking (1992)
Leonard, N.E., Krishnaprasad, P.S.
This paper presents a comparative investigation of friction- compensating control strategies designed to improve low-velocity position tracking performance in the presence of velocity reversals for...
Comparative Study of Friction-Compensating Control Strategies for Servomechanisms (1991)
Leonard, N.E., Krishnaprasad, P.S.
This paper describes a comparative investigation of friction- compensating control strategies designed to improve low-velocity position tracking performance for servomechanisms. Several control...
Comparative Study of Friction-Compensating Control Strategies for Servomechanisms (1991)
Leonard, N.E., Krishnaprasad, P.S.
This paper describes a comparative investigation of friction- compensating control strategies designed to improve low-velocity position tracking performance for servomechanisms. Several control...