Energy Shaping for Systems with Two Degrees of Underactuation and More than Three Degrees of Freedom

DOI10.1137/11084995XzbMath1266.93128OpenAlexW2069043331MaRDI QIDQ2840122

Wai Man Ng, Dong Eui Chang, George Labahn

Publication date: 17 July 2013

Published in: SIAM Journal on Control and Optimization (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1137/11084995x

zbMATH Keywords

stabilizabilitymatching conditionsenergy shapingcontrolled Lagrangian

Mathematics Subject Classification ID

Stabilization of systems by feedback (93D15) Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15)

Related Items (3)

On the method of energy shaping via static output feedback for stabilization of mechanical systems ⋮ On the method of interconnection and damping assignment passivity-based control for the stabilization of mechanical systems ⋮ The Helmholtz Conditions and the Method of Controlled Lagrangians

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