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Controllability of Lie-Poisson Reduced Dynamics

dc.contributor.authorManikonda, Vikramen_US
dc.contributor.authorKrishnaprasad, Perinkulam S.en_US
dc.date.accessioned2007-05-23T10:04:16Z
dc.date.available2007-05-23T10:04:16Z
dc.date.issued1997en_US
dc.identifier.urihttp://hdl.handle.net/1903/5877
dc.description.abstractIn this paper we present sufficient conditions for controllability of Lie-Poisson reduced dynamics of a class of mechanical systems with symmetry. We prove conditions (boundedness of coadjoint orbits and existence of a radially unbounded Lyapunov function) under which the drift vector field (of the reduced system) is weakly positively Poisson stable (WPPS). The WPPS nature of the drift vector field along with the Lie algebra rank condition is used to show controllability of the reduced system. We discuss the dynamics, Lie-Poisson reduction, and controllability of hovercraft, spacecraft and underwater vehicles, all treated as rigid bodies.en_US
dc.format.extent323200 bytes
dc.format.mimetypeapplication/pdf
dc.language.isoen_USen_US
dc.relation.ispartofseriesISR; TR 1997-59en_US
dc.subjectsymmetryen_US
dc.subjectlie-poisson reductionen_US
dc.subjectweak positive poisson stabilityen_US
dc.subjectcontrollabilityen_US
dc.subjecthovercraften_US
dc.subjectspacecraften_US
dc.subjectunderwater vehiclesen_US
dc.subjectIntelligent Control Systemsen_US
dc.titleControllability of Lie-Poisson Reduced Dynamicsen_US
dc.typeTechnical Reporten_US
dc.contributor.departmentISRen_US


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