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1 2004

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Euler-Poincare reduction of externally forced rigid body motion

Wiśniewski R., Kulczycki P.

Control and Cybernetics

2004

Vol. 33, no 2

297-310

If a mechanical system experiences symmetry, the Lagrangian becomes invariant under a certain group action. This property leads to substantial simplification of the description of movement. The standpoint in this article is a mechanical system affected by an external force of a control action. Assuming that the system possesses symmetry and the configuration manifold corresponds to a Lie group, the Euler-Poincare reduction breaks up the motion into separate equations of dynamics and kinematics. This becomes of particular interest for modeling, estimation and control of mechanical systems. A control system generates an external force, which may break the symmetry in the dynamics. This paper shows how to model and to control a mechanical system on the reduced phase space, such that complete state space asymptotic stabilization can be achieved. The paper comprises a specialization of the well-known Euler-Poincare reduction to a rigid body motion with forcing. An example of satellite attitude control illustrates usefulness of the Euler-Poincare reduction in control engineering. This work demonstrates how the energy shaping method applies for Euler-Poincare equations.