Controlled Lagrangians and Potential Shaping for Stabilization of Discrete Mechanical Systems

DOI10.1109/CDC.2006.376695MaRDI QIDQ6476777zbMATH OpenFDO

Authors Anthony M. Bloch, Melvin Leok, J. E. Marsden, Dmitry V. Zenkov

Publication date 26 February 2006

Full work available at URL https://doi.org/10.1109/CDC.2006.376695

Abstract: The method of controlled Lagrangians for discrete mechanical systems is extended to include potential shaping in order to achieve complete state-space asymptotic stabilization. New terms in the controlled shape equation that are necessary for matching in the discrete context are introduced. The theory is illustrated with the problem of stabilization of the cart-pendulum system on an incline. We also discuss digital and model predictive control.

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