Averaging and energy methods for robust open-loop control of mechanical systems (Q4246867)

This paper describes the development of a ``behaviorist'' approach to the control of nonlinear mechanical systems. First, the authors introduce more formally the averaged potential together with the averaging principle which describes a remarkable association between the critical points of the averaged potential and the stability properties of the corresponding nonautonomous system. The authors discuss nondimensionalization as a means of providing a standard notion of ``high-frequency'' forcing of superarticulated mechanical systems, and discuss the current theory of stability of such systems. Then, this paper discusses the connection between critical points of the averaged potential and nearby periodic motions of the nonautonomous system. The global dynamics averaged and nonautonomous for single degree-of-freedom mechanical systems are compared in detail. Finally, the authors apply the theory and methods to the problem of stabilizing the rotations of a simple pendulum and the general case of \(n\)-link planar chains. For the entire collection see [Zbl 0903.00092].