… We apply the method of controlled Lagrangians by potential shaping to Euler–Poincaré
mechanical systems with broken symmetry. We assume that the configuration space is a general …

… Controlled Lagrangians to a class of mechanical systems with broken symmetry to find controls
that stabilize … The method of Controlled Lagrangians was originally developed for those …

… the method of controlled Lagrangians to a class of mechanical systems on semidirect
product Lie groups with broken symmetry in order to find controls that stabilize their unstable …

… of Controlled Lagrangians to nonholonomic Euler–Poincaré mechanical systems with broken
… Our goal is to extend it to a class of mechanical systems under nonholonomic constraints …

… We extend the method of controlled Lagrangians to nonholonomic Euler–Poincaré … ,
specifically to those mechanical systems on Lie groups whose symmetry is broken not only by a …

… controlled Lagrangians to the class of Lagrangian mechanical systems with potential energy
that may break … In recent papers we have addressed systems of the Euler–Poincaré type …

… methods to Euler-Poincaré systems which we illustrate with the problems of stabilization of
… have arranged to not break the symmetry, and so we may determine the control law from the …

… the Lagrangian for a mechanical system with configuration space G. Assume that L is invariant
… The typical control force will break the conservation of energy in Chaplygin’s sphere that …

… mechanical system affected by an external force of a control … control system generates an
external force, which may break … complete state space asymptotic stabilization can be achieved…

… mechanical system affected by an external force of a control … control system generates an
external force, which may break … complete state space asymptotic stabilization can be achieved…