Controlled Lagrangians and the stabilization of mechanical systems. I. The first matching theorem
نویسندگان
چکیده
منابع مشابه
Controlled Lagrangians and the stabilization of mechanical systems. I. The first matching theorem
We develop a method for the stabilization of mechanical systems with symmetry based on the technique of controlled Lagrangians. The procedure involves making structured modifications to the Lagrangian for the uncontrolled system, thereby constructing the controlled Lagrangian. The Euler–Lagrange equations derived from the controlled Lagrangian describe the closed-loop system, where new terms in...
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Controlled Lagrangian and matching techniques are developed for the stabilization of relative equilibria and equilibria of discrete mechanical systems with symmetry as well as broken symmetry. Interesting new phenomena arise in the controlled Lagrangian approach in the discrete context that are not present in the continuous theory. In particular, to make the discrete theory effective, one can m...
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We describe a class of mechanical systems for which the “method of controlled Lagrangians” provides a family of control laws that stabilize an unstable (relative) equilibrium. The controlled Lagrangian approach involves making modifications to the Lagrangian for the uncontrolled system such that the Euler-Lagrange equations derived from the modified or “controlled” Lagrangian describe the close...
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ژورنال
عنوان ژورنال: IEEE Transactions on Automatic Control
سال: 2000
ISSN: 0018-9286
DOI: 10.1109/9.895562