Controlled Lagrangian Systems with Gyroscopic Forcing and Dissipation
نویسندگان
چکیده
منابع مشابه
Controlled Lagrangian Systems with Gyroscopic Forcing and Dissipation
This paper describes a procedure for incorporating artificial gyroscopic forces in the method of controlled Lagrangians. These energy-conserving forces provide additional freedom to expand the basin of stability and tune closed-loop system performance. We also study the effect of physical dissipation on the closed-loop dynamics and discuss conditions for stability in the presence of natural dam...
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The method of controlled Lagrangians is a technique for stabilizing underactuated mechanical systems which involves modifying a system’s energy and dynamic structure through feedback. These modifications can obscure the effect of physical dissipation in the closed-loop. For example, generic damping can destabilize an equilibrium which is closed-loop stable for a conservative system model. In th...
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Here, gyroscopic systems are time-invariant systems for which motions can be characterized by properties of a matrix pencil L(λ) = λ2I + λG − C, where GT = −G and C > 0. A strong stability condition is known which depends only on |G| (= (GT G)1/2 ≥ 0) and C. If a system with coefficients G0 and C satisfies this condition then all systems with the same C and with a G satisfying |G| ≥ |G0| are al...
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We develop reduction theory for controlled Lagrangian and controlled Hamiltonian systems with symmetry. Reduction theory for these systems is needed in a variety of examples, such as a spacecraft with rotors, a heavy top with rotors, and underwater vehicle dynamics. One of our main results shows the equivalence of the method of reduced controlled Lagrangian systems and that of reduced controlle...
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ژورنال
عنوان ژورنال: European Journal of Control
سال: 2004
ISSN: 0947-3580
DOI: 10.3166/ejc.10.478-496