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We discuss the problem of constructing steady state motions of mechanical systems with partial damping. A planar three bar linkage with viscous damping at one of the joints is considered as an example. We show that for a ...

In the search for useful strategies for movement of robotic systems (e.g. manipulators, platforms) in constrained environments (e.g. in space, underwater), there appear to be new principles emerging from a deeper geometric ...

As applications have grown in the fields of robotics and automation, power systems, and electronic circuit systems, there has been an increasing interest in the control of constrained dynamic systems described by differential ...

In this paper we make explicit a reduction of G-invariant optimal control problems on a Lie group G.

In recent work, the exact dynamic equations for the motion of a finite rigid body in a central gravitational field were shown to be of Hamiltonian form with a noncanonical structure. In this paper, the notion of relative ...

In this paper we discuss the stabilization of the rigid body dynamics by external torques (gas jets) and internal torques (momentum wheels). We compare the stabilizing quadratic quadratic feedback law for a single external ...

In 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 ...

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 fewer controls than state ...

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 (e) amplitude, low-frequency, ...

The main goal of this paper is to prove that if the energy- momentum (or energy-Casimir) method predicts formal instability of a relative equilibrium in a Hamiltonian system with symmetry, then with the addition of ...