The Helmholtz Conditions and the Method of Controlled Lagrangians

DOI10.2991/978-94-6239-109-3_1zbMath1337.49062OpenAlexW2346494824WikidataQ57439000 ScholiaQ57439000MaRDI QIDQ2806300

Anthony M. Bloch, Dmitry V. Zenkov, Demeter Krupka

Publication date: 17 May 2016

Published in: The Inverse Problem of the Calculus of Variations (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.2991/978-94-6239-109-3_1

zbMATH Keywords

inverse problemcalculus of variationsHelmholtz conditionscontrolled Lagrangiansstabilizing feedback controls

Mathematics Subject Classification ID

Feedback control (93B52) Stabilization of systems by feedback (93D15) Inverse problems in optimal control (49N45)

Related Items (3)

The Inverse Problem of the Calculus of Variations and the Stabilization of Controlled Lagrangian Systems ⋮ An extension to the theory of controlled Lagrangians using the Helmholtz conditions ⋮ Constraint control of nonholonomic mechanical systems

Cites Work

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• The matching conditions of controlled Lagrangians and IDA-passivity based control
• The Equivalence of Controlled Lagrangian and Controlled Hamiltonian Systems
• Control of nonlinear underactuated systems
• Controlled Lagrangians and the stabilization of mechanical systems. II. Potential shaping
• Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment

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