Gyroscopic Control and Stabilization

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dc.contributor.authorWang, L.S.en_US
dc.contributor.authorKrishnaprasad, Perinkulam S.en_US
dc.contributor.departmentISRen_US
dc.date.accessioned2007-05-23T09:48:04Z
dc.date.available2007-05-23T09:48:04Z
dc.date.issued1991en_US
dc.description.abstractIn this paper, we consider the geometry of gyroscopic systems with symmetry, starting from an intrinsic Lagrangian viewpoint. We note that natural mechanical systems with exogenous forces can be transformed into gyroscopic systems, when the forces are determined by a suitable class of feedback laws. To assess the stability of relative equilibria in the resultant feedback systems, we extend the energy-momentum block-diagonalization theorem of Simo, Lewis, Posbergh, and Marsden to gyroscopic systems with symmetry. We illustrate the main ideas by a key example of two coupled rigid bodies with internal rotors. The energy-momentum method yields computationally tractable stability criteria in this and other examples.en_US
dc.format.extent2412001 bytes
dc.format.mimetypeapplication/pdf
dc.identifier.urihttp://hdl.handle.net/1903/5099
dc.language.isoen_USen_US
dc.relation.ispartofseriesISR; TR 1991-51en_US
dc.subjectgeometric controlen_US
dc.subjectnonlinear systemsen_US
dc.subjectspace structuresen_US
dc.subjectstabilityen_US
dc.subjectintelligent servoen_US
dc.subjectHamiltonian systemsen_US
dc.subjectIntelligent Servomechanismsen_US
dc.titleGyroscopic Control and Stabilizationen_US
dc.typeTechnical Reporten_US

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