An extension to the theory of controlled Lagrangians using the Helmholtz conditions

DOI10.1007/s00332-018-9490-xzbMath1417.49048arXiv1711.06944OpenAlexW2769255053MaRDI QIDQ2423383

Marta Farré Puiggalí, Anthony M. Bloch

Publication date: 21 June 2019

Published in: Journal of Nonlinear Science (Search for Journal in Brave)

Full work available at URL: https://arxiv.org/abs/1711.06944

zbMATH Keywords

inverse problemmatching conditionsHelmholtz conditionscontrolled Lagrangians

Mathematics Subject Classification ID

Optimal feedback synthesis (49N35) Stabilization of systems by feedback (93D15) Control of mechanical systems (70Q05) Variational principles in infinite-dimensional spaces (58E30) Inverse problems in optimal control (49N45) Lagrange's equations (70H03)

Related Items (3)

Inverse problem and equivalent contact systems ⋮ Symmetry actuated closed-loop Hamiltonian systems ⋮ Feedback control of charged ideal fluids

Cites Work

• Inverse problem for Lagrangian systems on Lie algebroids and applications to reduction by symmetries
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• Controlled Lagrangians and the stabilization of Euler-Poincaré mechanical systems
• Controlled Lagrangians and the stabilization of mechanical systems. I. The first matching theorem
• The inverse problem of the calculus of variations: The use of geometrical calculus in Douglas’s analysis
• The Helmholtz Conditions and the Method of Controlled Lagrangians
• The Inverse Problem of the Calculus of Variations and the Stabilization of Controlled Lagrangian Systems
• Stabilization of Systems with One Degree of Underactuation with Energy Shaping: A Geometric Approach
• The matching conditions of controlled Lagrangians and IDA-passivity based control
• The inverse problem for invariant Lagrangians on a Lie group
• Towards a geometrical understanding of Douglas's solution of the inverse problem of the calculus of variations
• On the $\lambda$-Equations for Matching Control Laws
• Controlled Lagrangians and the stabilization of mechanical systems. II. Potential shaping
• The inverse problem of the calculus of variations for discrete systems
• Isotropic submanifolds and the inverse problem for mechanical constrained systems
• Second Order Ordinary Differential Equations in Jet Bundles and the Inverse Problem of the Calculus of Variations

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