Controlled Lagrangians and the stabilization of mechanical systems II: Potential shaping

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We extend the method of controlled Lagrangians (CL) to include potential shaping, which achieves complete state-space asymptotic stabilization of mechanical systems. The CL method deals with mechanical systems with symmetry and provides symmetry-preserving kinetic shaping and feedback-controlled dissipation for state-space stabilization in all but the symmetry variables. Potential shaping complements the kinetic shaping by breaking symmetry and stabilizing the remaining state variables. The approach also extends the method of controlled Lagrangians to include a class of mechanical systems without symmetry such as the inverted pendulum on a cart that travels along an incline.
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Issue Date
2001-10
Language
English
Article Type
Article
Keywords

MANIFOLDS; DYNAMICS; THEOREM

Citation

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, v.46, no.10, pp.1556 - 1571

ISSN
0018-9286
DOI
10.1109/9.956051
URI
http://hdl.handle.net/10203/220737
Appears in Collection
EE-Journal Papers(저널논문)
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