DC Field | Value | Language |
---|---|---|
dc.contributor.author | Chang, Dong Eui | ko |
dc.date.accessioned | 2017-03-28T05:37:33Z | - |
dc.date.available | 2017-03-28T05:37:33Z | - |
dc.date.created | 2017-02-13 | - |
dc.date.created | 2017-02-13 | - |
dc.date.issued | 2010-08 | - |
dc.identifier.citation | IEEE TRANSACTIONS ON AUTOMATIC CONTROL, v.55, no.8, pp.1888 - 1893 | - |
dc.identifier.issn | 0018-9286 | - |
dc.identifier.uri | http://hdl.handle.net/10203/220793 | - |
dc.description.abstract | We provide some criteria for stabilizability by the energy-shaping method for the class of all controlled Lagrangian systems of two degrees of freedom and one degree of under-actuation: a necessary and sufficient condition for Lyapunov stabilizability, two sufficient conditions for asymptotic stabilizability, and a necessary and sufficient condition for exponential stabilizability. As a corollary, we show that some of the asymptotically stabilizing controllers that were designed in old literatures with the energy-shaping method are actually exponentially stabilizing controllers. Examples of such systems are the inverted pendulum on a cart, the Furuta pendulum, the ball and beam system, and the Pendubot. | - |
dc.language | English | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.subject | MECHANICAL SYSTEMS | - |
dc.subject | STABILIZATION | - |
dc.title | Stabilizability of Controlled Lagrangian Systems of Two Degrees of Freedom and One Degree of Under-Actuation by the Energy-Shaping Method | - |
dc.type | Article | - |
dc.identifier.wosid | 000283434400013 | - |
dc.identifier.scopusid | 2-s2.0-77955348844 | - |
dc.type.rims | ART | - |
dc.citation.volume | 55 | - |
dc.citation.issue | 8 | - |
dc.citation.beginningpage | 1888 | - |
dc.citation.endingpage | 1893 | - |
dc.citation.publicationname | IEEE TRANSACTIONS ON AUTOMATIC CONTROL | - |
dc.identifier.doi | 10.1109/TAC.2010.2049279 | - |
dc.contributor.localauthor | Chang, Dong Eui | - |
dc.description.isOpenAccess | N | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | Controlled Lagrangian | - |
dc.subject.keywordAuthor | energy shaping | - |
dc.subject.keywordAuthor | stabilization | - |
dc.subject.keywordPlus | MECHANICAL SYSTEMS | - |
dc.subject.keywordPlus | STABILIZATION | - |
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