The Method of Controlled Lagrangians: Energy plus Force Shaping

DOI10.1137/070691310zbMath1214.93080OpenAlexW2136976063MaRDI QIDQ3083246

Dong Eui Chang

Publication date: 21 March 2011

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

Full work available at URL: https://doi.org/10.1137/070691310

zbMATH Keywords

stabilizabilitymatching conditionsenergy shapingcontrolled Lagrangianforce shaping

Mathematics Subject Classification ID

Stabilization of systems by feedback (93D15) Nonlinear systems in control theory (93C10) Control of mechanical systems (70Q05) Control/observation systems governed by ordinary differential equations (93C15)

Related Items (10)

On the method of energy shaping via static output feedback for stabilization of mechanical systems ⋮ On the relationship between the \textit{energy shaping} and the \textit{Lyapunov constraint based} methods ⋮ Asymptotic Stabilizability of Underactuated Hamiltonian Systems With Two Degrees of Freedom ⋮ Adaptive IDA‐PBC for underactuated mechanical systems with constant disturbances ⋮ Pseudo‐energy shaping for the stabilization of a class of second‐order systems ⋮ Control via interconnection and damping assignment of linear time-invariant systems: a tutorial ⋮ 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 ⋮ Explicit solutions of the kinetic and potential matching conditions of the energy shaping method ⋮ IDA-PBC with adaptive friction compensation for underactuated mechanical systems

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