REDUCTION OF CONTROLLED LAGRANGIAN AND HAMILTONIAN SYSTEMS WITH SYMMETRY

被引：18

作者：

Chang, Dong Eui ^{[1
]}

Marsden, Jerrold E. ^{[2
]}

机构：

[1] Ecole Natl Super Mines, Ctr Automat & Syst, 60, F-75272 Paris 06, France

[2] CALTECH, Control & Dynam Syst 107 81, Pasadena, CA 91125 USA

来源：

SIAM JOURNAL ON CONTROL AND OPTIMIZATION | 2004年 / 43卷 / 01期

关键词：

controlled Lagrangian systems; controlled Hamiltonian systems; reduction; equivalence;

D O I：

10.1137/S0363012902412951

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We develop reduction theory for controlled Lagrangian and controlled Hamiltonian systems with symmetry. Reduction theory for these systems is needed in a variety of examples, such as a spacecraft with rotors, a heavy top with rotors, and underwater vehicle dynamics. One of our main results shows the equivalence of the method of reduced controlled Lagrangian systems and that of reduced controlled Hamiltonian systems in the case of simple mechanical systems with symmetry.

引用

页码：277 / 300

页数：24

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