On the \lambda-Equations for Matching Control Laws

DOI10.1137/S0363012901393304MaRDI QIDQ4441907zbMATH OpenFDO

Authors David Auckly, Lev Kapitanski

Publication date 8 January 2004

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

Full work available at URL https://arxiv.org/abs/math/0108070

zbMATH Keywords

\(\lambda\)-equationsmatching control lawsnonlinear controlstabilization

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Stabilization of systems by feedback (93D15)

Abstract: We discuss matching control laws for underactuated systems. We previously showed that this class of matching control laws is completely charactarized by a linear system of first order partial differential equations for one set of variables followed by a linear system of first order PDEs for a second set of variables. Here we derive a new first order system of partial differential equations that encodes all compatibility conditions for the lambda-equations. We give four examples illustrating different features of matching control laws. The last example is a system with two unactuated degrees of freedom that admits only basic solutions to the matching equations. There are systems with many matching control laws where only basic solutions are potentially useful. We introduce a rank condition indicating when this is likely to be the case.

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• An extension to the theory of controlled Lagrangians using the Helmholtz conditions
• Interconnection and damping assignment passivity-based control: a survey
• Controlled Lagrangian systems with gyroscopic forcing and dissipation
• On the matching equations of energy shaping controllers for mechanical systems
• Controller design for mechanical systems with underactuation degree one based on controlled Lagrangians method
• Asymptotic stabilisation of the ball and beam system: design of energy-based control law and experimental results
• The Lyapunov direct method for the stabilisation of the ball on the actuated beam
• A remark on controlled Lagrangian approach
• Solution of matching equations of IDA-PBC by Pfaffian differential equations
• Total Energy Shaping Control of Mechanical Systems: Simplifying the Matching Equations Via Coordinate Changes
• Energy shaping control for systems with underactuation degrees two by controlled Lagrangian method
• Stabilization control of quadrotor helicopter through matching solution by controlled Lagrangian method
• Stabilization of the Furuta pendulum based on a Lyapunov function

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