The Helmholtz conditions and the method of controlled Lagrangians

DOI10.2991/978-94-6239-109-3_1MaRDI QIDQ2806300zbMATH OpenOpenAlexWikidataFDO

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

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

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)

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Cites work

• scientific article; zbMATH DE number 3198393 (Why is no real title available?)
• Control of nonlinear underactuated systems
• Controlled Lagrangians and the stabilization of mechanical systems. I: The first matching theorem.
• Controlled Lagrangians and the stabilization of mechanical systems. II. Potential shaping
• Energy shaping for systems with two degrees of underactuation and more than three degrees of freedom
• Energy-based Lyapunov functions for forced Hamiltonian systems with dissipation
• Linear systems with a quadratic integral
• Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment
• Stabilization of systems with one degree of underactuation with energy shaping: a geometric approach
• The Equivalence of Controlled Lagrangian and Controlled Hamiltonian Systems
• The matching conditions of controlled Lagrangians and IDA-passivity based control
• The method of controlled Lagrangians: energy plus force shaping
• Thirty years of the inverse problem in the calculus of variations
• Variational sequences in mechanics

Cited in

(5)

• scientific article; zbMATH DE number 6319920 (Why is no real title available?)
• Constraint control of nonholonomic mechanical systems
• Quantum mechanical control systems
• An extension to the theory of controlled Lagrangians using the Helmholtz conditions
• The inverse problem of the calculus of variations and the stabilization of controlled Lagrangian systems

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