Controlled Lagrangians and stabilization of discrete mechanical systems

DOI10.3934/DCDSS.2010.3.19zbMATH Open1278.70021arXiv0704.3875OpenAlexW2092806917MaRDI QIDQ964151FDOQ964151

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)

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.

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

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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)

Cited In (8)

• Controlled Lagrangians and the stabilization of mechanical systems. II. Potential shaping
• An extension to the theory of controlled Lagrangians using the Helmholtz conditions
• Discrete mechanics and optimal control: An analysis
• Symplectic discrete-time energy-based control for nonlinear mechanical systems
• Controlled Lagrangians and stabilization of Euler-Poincaré mechanical systems with broken symmetry. II: Potential shaping
• Controlled Lagrangians and stabilization of Euler-Poincaré mechanical systems with broken symmetry. I: Kinetic shaping
• Controlled Lagrangians and the stabilization of mechanical systems. I: The first matching theorem.
• Controlled Lagrangians and the stabilization of Euler-Poincaré mechanical systems

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