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Stabilization of Relative Equilibria II

Jalnapurkar, Sameer M. and Marsden, Jerrold E. (1998) Stabilization of Relative Equilibria II. Regular & Chaotic Dynamics, 3 (3). pp. 161-179. ISSN 1560-3547.

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In this paper, we obtain feedback laws to asymptotically stabilize relative equilibria of mechanical systems with symmetry. We use a notion of stability ‘modulo the group action’ developed by Patrick [1992]. We deal with both internal instability and with instability of the rigid motion. The methodology is that of potential shaping, but the system is allowed to be internally underactuated, i.e., have fewer internal actuators than the dimension of the shape space.

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Additional Information:© 1999, Turpion Ltd. All Rights Reserved. November 8, 1998
Record Number:CaltechAUTHORS:20100921-085655421
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Official Citation:S M Jalnapurkar, J E Marsden, "Stabilization of relative equilibria II ", REGUL CHAOTIC DYN, 1998, 3 (3), 161–179.
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:20058
Deposited By: Ruth Sustaita
Deposited On:22 Sep 2010 18:36
Last Modified:26 Dec 2012 12:26

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