The falling cat as a port-controlled Hamiltonian system

DOI10.1016/J.GEOMPHYS.2011.10.018MaRDI QIDQ2428150zbMATH OpenOpenAlexFDO

Authors Toshihiro Iwai, Hiroki Matsunaka

Publication date 24 April 2012

Published in Journal of Geometry and Physics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.geomphys.2011.10.018

zbMATH Keywords

falling catgeometric mechanicsport-controlled Hamiltonian systems

Mathematics Subject Classification ID

Dynamical systems in control (37N35) Applications of variational problems to control theory (58E25) Dynamics of multibody systems (70E55) Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45) Control of mechanical systems (70Q05) Geometric methods (93B27)

Recommendations

• Geometry, mechanics, and control in action for the falling cat
• Dynamics and control of mechanical systems. The falling cat and related problems. Papers of the first Fields Institute Workshop held at Waterloo, Ontario (Canada), March 1992
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Cites work

• Canonical transformation and stabilization of generalized Hamiltonian systems
• Classical and quantum mechanics of jointed rigid bodies with vanishing total angular momentum
• Controlled Lagrangians and the stabilization of Euler-Poincaré mechanical systems
• Geometric mechanics of many-body systems
• scientific article; zbMATH DE number 3868135 (Why is no real title available?)
• scientific article; zbMATH DE number 4069899 (Why is no real title available?)
• scientific article; zbMATH DE number 1228244 (Why is no real title available?)
• scientific article; zbMATH DE number 475212 (Why is no real title available?)
• Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems
• Optimal Control for Holonomic and Nonholonomic Mechanical Systems with Symmetry and Lagrangian Reduction
• Stratified reduction of classical many-body systems with symmetry
• The mechanics and control for multi-particle systems

Cited in

(11)

• A distributed control model for the air-righting reflex of a cat
• scientific article; zbMATH DE number 426010 (Why is no real title available?)
• scientific article; zbMATH DE number 3947675 (Why is no real title available?)
• scientific article; zbMATH DE number 475207 (Why is no real title available?)
• A simple model for the falling cat problem
• ‘‘Falling cat’’ connections and the momentum map
• Do free-falling quantum cats land on their feet?
• Geometry, mechanics, and control in action for the falling cat
• Dynamics and control of mechanical systems. The falling cat and related problems. Papers of the first Fields Institute Workshop held at Waterloo, Ontario (Canada), March 1992
• Solvable structures in the falling cat problem
• Optimal control of nonholonomic motion planning for a free-falling cat

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