Stabilizability of Controlled Lagrangian Systems of Two Degrees of Freedom and One Degree of Under-Actuation by the Energy-Shaping Method
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Publication:4978909
DOI10.1109/TAC.2010.2049279zbMath1368.70027OpenAlexW2151940355MaRDI QIDQ4978909
Publication date: 25 August 2017
Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1109/tac.2010.2049279
Stabilization of systems by feedback (93D15) Control of mechanical systems (70Q05) Lagrange's equations (70H03) Stability problems for problems in Hamiltonian and Lagrangian mechanics (70H14)
Related Items (7)
Smooth higher-order sliding mode control of a class of underactuated mechanical systems ⋮ On the relationship between the \textit{energy shaping} and the \textit{Lyapunov constraint based} methods ⋮ The Inverse Problem of the Calculus of Variations and the Stabilization of Controlled Lagrangian Systems ⋮ Asymptotic Stabilizability of Underactuated Hamiltonian Systems With Two Degrees of Freedom ⋮ A review on the control of second order underactuated mechanical systems ⋮ On the method of interconnection and damping assignment passivity-based control for the stabilization of mechanical systems ⋮ Explicit solutions of the kinetic and potential matching conditions of the energy shaping method
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