On the method of energy shaping via static output feedback for stabilization of mechanical systems

DOI10.1016/j.jfranklin.2014.08.014zbMath1395.93492OpenAlexW1974484534MaRDI QIDQ1660545

Dong Eui Chang, Yongsoon Eun

Publication date: 16 August 2018

Published in: Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.jfranklin.2014.08.014

zbMATH Keywords

static output feedbackenergy shapingstabilization of mechanical systems

Mathematics Subject Classification ID

Control/observation systems governed by partial differential equations (93C20) Feedback control (93B52) Asymptotic stability in control theory (93D20) Control of mechanical systems (70Q05)

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Cites Work

• Stabilization of rigid body dynamics by internal and external torques
• Controlled Lagrangians and the stabilization of Euler-Poincaré mechanical systems
• Controlled Lagrangians and the stabilization of mechanical systems. I. The first matching theorem
• Energy Shaping for Systems with Two Degrees of Underactuation and More than Three Degrees of Freedom
• The Method of Controlled Lagrangians: Energy plus Force Shaping
• Modeling and Control of Elastic Joint Robots
• The Equivalence of Controlled Lagrangian and Controlled Hamiltonian Systems
• Controlled Lagrangians and the stabilization of mechanical systems. II. Potential shaping