Stabilizability of Controlled Lagrangian Systems of Two Degrees of Freedom and One Degree of Under-Actuation by the Energy-Shaping Method

DOI10.1109/TAC.2010.2049279zbMath1368.70027OpenAlexW2151940355MaRDI QIDQ4978909

Publication date: 25 August 2017

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1109/tac.2010.2049279

Mathematics Subject Classification ID

Stabilization of systems by feedback (93D15) Control of mechanical systems (70Q05) Lagrange's equations (70H03) Stability problems for problems in Hamiltonian and Lagrangian mechanics (70H14)

Related Items (7)

Smooth higher-order sliding mode control of a class of underactuated mechanical systems ⋮ On the relationship between the \textit{energy shaping} and the \textit{Lyapunov constraint based} methods ⋮ The Inverse Problem of the Calculus of Variations and the Stabilization of Controlled Lagrangian Systems ⋮ Asymptotic Stabilizability of Underactuated Hamiltonian Systems With Two Degrees of Freedom ⋮ A review on the control of second order underactuated mechanical systems ⋮ On the method of interconnection and damping assignment passivity-based control for the stabilization of mechanical systems ⋮ Explicit solutions of the kinetic and potential matching conditions of the energy shaping method

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