The Helmholtz conditions and the method of controlled Lagrangians

DOI10.2991/978-94-6239-109-3_1zbMATH Open1337.49062OpenAlexW2346494824WikidataQ57439000 ScholiaQ57439000MaRDI QIDQ2806300FDOQ2806300

Demeter Krupka, Anthony M. Bloch, Dmitry V. Zenkov

Publication date: 17 May 2016

Published in: The Inverse Problem of the Calculus of Variations (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.2991/978-94-6239-109-3_1

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zbMATH Keywords

inverse problemcalculus of variationsHelmholtz conditionscontrolled Lagrangiansstabilizing feedback controls

Mathematics Subject Classification ID

Inverse problems in optimal control (49N45) Feedback control (93B52) Stabilization of systems by feedback (93D15)

Cites Work

• Energy-based Lyapunov functions for forced Hamiltonian systems with dissipation
• Variational sequences in mechanics
• Controlled Lagrangians and the stabilization of mechanical systems. I: The first matching theorem.
• The matching conditions of controlled Lagrangians and IDA-passivity based control
• The Equivalence of Controlled Lagrangian and Controlled Hamiltonian 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
• Title not available (Why is that?)
• Energy shaping for systems with two degrees of underactuation and more than three degrees of freedom
• Linear systems with a quadratic integral
• Control of nonlinear underactuated systems
• Thirty years of the inverse problem in the calculus of variations
• The Method of Controlled Lagrangians: Energy plus Force Shaping
• Stabilization of Systems with One Degree of Underactuation with Energy Shaping: A Geometric Approach

Cited In (5)

• The Inverse Problem of the Calculus of Variations and the Stabilization of Controlled Lagrangian Systems
• Constraint control of nonholonomic mechanical systems
• Quantum mechanical control systems
• An extension to the theory of controlled Lagrangians using the Helmholtz conditions
• Title not available (Why is that?)

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