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This paper is concerned with the theory of quasivelocities and its applications to control. The equations of motion of a mechanical system are derived using the Lagrange-d'Alembert principle written in an arbitrary configuration-dependent frame. The structure of the equations of motion written in quasivelocities is utilized in the design of a nonlinear feedback stabilizing controller for an example...
We provide Lyapunov-based control laws that stabilize relative equilibria in a model consisting of particles that travel on the surface of a rotating sphere in a time-invariant flowfield. These control laws are of interest because they have applications in planetary-scale mobile sensing networks in air and sea. A rotating sphere is introduced so that the particles are subject to the Coriolis effect...
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