Controlled Lagrangians and stabilization of discrete mechanical systems

DOI10.3934/DCDSS.2010.3.19MaRDI QIDQ964151zbMATH OpenOpenAlexFDO

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

Publication date 15 April 2010

Published in Discrete and Continuous Dynamical Systems. Series S (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://arxiv.org/abs/0704.3875

zbMATH Keywords

matchingdiscrete mechanicsdigital control

Mathematics Subject Classification ID

Discrete version of topics in analysis (39A12) Control of mechanical systems (70Q05) Discrete-time control/observation systems (93C55) Stabilization of systems by feedback (93D15)

Abstract: Controlled Lagrangian and matching techniques are developed for the stabilization of relative equilibria and equilibria of discrete mechanical systems with symmetry as well as broken symmetry. Interesting new phenomena arise in the controlled Lagrangian approach in the discrete context that are not present in the continuous theory. In particular, to make the discrete theory effective, one can make an appropriate selection of momentum levels or, alternatively, introduce a new parameter into the controlled Lagrangian to complete the kinetic matching procedure. Specifically, new terms in the controlled shape equation that are necessary for potential matching in the discrete setting are introduced. The theory is illustrated with the problem of stabilization of the cart-pendulum system on an incline. The paper also discusses digital and model predictive controllers.

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