Controlled Lagrangian systems with gyroscopic forcing and dissipation
From MaRDI portal
Publication:2511930
DOI10.3166/ejc.10.478-496zbMath1293.93645OpenAlexW1976473169MaRDI QIDQ2511930
Chevva Konda Reddy, C. A. Woolsey, Dong Eui Chang, Naomi Ehrich Leonard, Jerrold E. Marsden, Anthony M. Bloch
Publication date: 7 August 2014
Published in: European Journal of Control (Search for Journal in Brave)
Full work available at URL: https://authors.library.caltech.edu/532/
Nonlinear systems in control theory (93C10) Asymptotic stability in control theory (93D20) Control of mechanical systems (70Q05)
Related Items
A controller for 2-DOF underactuated mechanical systems with discontinuous friction, Energy shaping for position and speed control of a wheeled inverted pendulum in reduced space, On the relationship between the \textit{energy shaping} and the \textit{Lyapunov constraint based} methods, A control energy approach for the stabilization of the rigid beam balanced by the cart, Asymptotic Stabilizability of Underactuated Hamiltonian Systems With Two Degrees of Freedom, Stabilization of the ball on the beam system by means of the inverse Lyapunov approach, Adaptive IDA‐PBC for underactuated mechanical systems with constant disturbances, On the matching equations of energy shaping controllers for mechanical systems, Symplectic discrete-time energy-based control for nonlinear mechanical systems, The Lyapunov direct method for the stabilisation of the ball on the actuated beam, Routh reduction and the class of magnetic Lagrangian systems, IDA-PBC with adaptive friction compensation for underactuated mechanical systems
Cites Work
- Unnamed Item
- Unnamed Item
- Unnamed Item
- Stabilization of rigid body dynamics by internal and external torques
- Gyroscopic control and stabilization
- Nonholonomic mechanics and control. With the collaboration of J. Baillieul, P. Crouch, and J. Marsden. With scientific input from P. S. Krishnaprasad, R. M. Murray, and D. Zenkov.
- Dissipation induced instabilities
- Physical damping in IDA-PBC controlled underactuated mechanical systems
- Controlled Lagrangians and the stabilization of Euler-Poincaré mechanical systems
- Controlled Lagrangians and the stabilization of mechanical systems. I. The first matching theorem
- The matching conditions of controlled Lagrangians and IDA-passivity based control
- Lectures on Mechanics
- Multiple Lyapunov functions and other analysis tools for switched and hybrid systems
- The Equivalence of Controlled Lagrangian and Controlled Hamiltonian Systems
- On the $\lambda$-Equations for Matching Control Laws
- Control of nonlinear underactuated systems
- Controlled Lagrangians and the stabilization of mechanical systems. II. Potential shaping
- Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment
