Pseudo‐energy shaping for the stabilization of a class of second‐order systems

DOI10.1002/rnc.1803zbMath1255.93113MaRDI QIDQ4902194

Dong Eui Chang

Publication date: 25 January 2013

Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rnc.1803

zbMATH Keywords

stabilization; mechanical systems; second-order system; Lyapunov direct method; energy shaping; energy-like Lyapunov function; controlled Lagrangian method; degree of under-actuation; pseudo-energy shaping method; three-link robot arm system; two-dimensional overhead crane system

Mathematics Subject Classification ID

93D15: Stabilization of systems by feedback

93B51: Design techniques (robust design, computer-aided design, etc.)

93D05: Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory

93C15: Control/observation systems governed by ordinary differential equations

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