The falling cat as a port-controlled Hamiltonian system

DOI10.1016/j.geomphys.2011.10.018zbMath1328.37060OpenAlexW2041849138MaRDI QIDQ2428150

Hiroki Matsunaka, Toshihiro Iwai

Publication date: 24 April 2012

Published in: Journal of Geometry and Physics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.geomphys.2011.10.018

zbMATH Keywords

geometric mechanicsport-controlled Hamiltonian systemsfalling cat

Mathematics Subject Classification ID

Geometric methods (93B27) Control of mechanical systems (70Q05) Dynamical systems in control (37N35) Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45) Dynamics of multibody systems (70E55) Applications of variational problems to control theory (58E25)

Related Items (1)

A simple model for the falling cat problem

Cites Work

• Geometric mechanics of many-body systems
• Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems
• Controlled Lagrangians and the stabilization of Euler-Poincaré mechanical systems
• Optimal Control for Holonomic and Nonholonomic Mechanical Systems with Symmetry and Lagrangian Reduction
• The mechanics and control for multi-particle systems
• Stratified reduction of classical many-body systems with symmetry
• Classical and quantum mechanics of jointed rigid bodies with vanishing total angular momentum
• Canonical transformation and stabilization of generalized Hamiltonian systems
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