ESE Seminar: Tomoki Ohsawa
Friday, December 1, 2023 10 AM to 11 AM
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135 N Skinker Blvd, St. Louis, MO 63112, USA
#SeminarStabilization of Mechanical Systems with Broken Symmetry via Controlled Lagrangians
Abstract: Mechanical systems such as underwater vehicles, a top spinning on a flying base, and a simple model for a figure skater have the special Euclidean group $SE(3) = SO(3) \ltimes \mathbb{R}^{3}$ as their natural configuration space. Despite being defined on the group $SE(3)$, the presence of external forces such as the buoyancy and the gravity or nonholonomic constraints breaks the $SE(3)$-symmetry the system would otherwise possess. We consider the problem of stabilizing unstable relative equilibria of such systems by extending the method of controlled Lagrangians to these systems.
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