ENERGY SHAPING FOR SYSTEMS WITH TWO DEGREES OF UNDERACTUATION AND MORE THAN THREE DEGREES OF FREEDOM

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We study the stabilizability, via the method of energy shaping, of a given Lagrangian system with two degrees of underactuation and with n >= 4 degrees of freedom. By making use of the formal theory of PDEs, we derive an involutive system of PDEs which governs energy shapability, and thus deduce, for the first time, easily verifiable conditions under which energy shaping is guaranteed. We illustrate our results with an example of a three-cart-one-inverted pendulum system.
Publisher
SIAM PUBLICATIONS
Issue Date
2013
Language
English
Article Type
Article
Keywords

CONTROLLED LAGRANGIANS; MECHANICAL SYSTEMS; STABILIZATION; THEOREM

Citation

SIAM JOURNAL ON CONTROL AND OPTIMIZATION, v.51, no.2, pp.881 - 905

ISSN
0363-0129
DOI
10.1137/11084995X
URI
http://hdl.handle.net/10203/220776
Appears in Collection
EE-Journal Papers(저널논문)
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