The method of controlled Lagrangians: energy plus force shaping

DOI10.1137/070691310MaRDI QIDQ3083246zbMATH OpenOpenAlexFDO

Authors Dong Eui Chang

Publication date 21 March 2011

Published in SIAM Journal on Control and Optimization (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1137/070691310

zbMATH Keywords

controlled Lagrangianenergy shapingforce shapingmatching conditionsstabilizability

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15) Stabilization of systems by feedback (93D15)

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Cited in

(17)

• On the method of energy shaping via static output feedback for stabilization of mechanical systems
• Explicit solutions of the kinetic and potential matching conditions of the energy shaping method
• On the relationship between the \textit{energy shaping} and the \textit{Lyapunov constraint based} methods
• Controlled Lagrangian systems with gyroscopic forcing and dissipation
• On the method of interconnection and damping assignment passivity-based control for the stabilization of mechanical systems
• Robust energy shaping control of mechanical systems
• The Helmholtz conditions and the method of controlled Lagrangians
• Controlled Lagrangians
• New results for mechanical Lagrangian control systems
• Controlled Lagrangians and the stabilization of mechanical systems. II. Potential shaping
• Adaptive IDA-PBC for underactuated mechanical systems with constant disturbances
• Pseudo-energy shaping for the stabilization of a class of second-order systems
• Control via interconnection and damping assignment of linear time-invariant systems: a tutorial
• IDA-PBC with adaptive friction compensation for underactuated mechanical systems
• Asymptotic stabilizability of underactuated Hamiltonian systems with two degrees of freedom
• Total Energy Shaping Control of Mechanical Systems: Simplifying the Matching Equations Via Coordinate Changes
• Integral controlled Lagrangians for underactuated mechanical systems subject to matched and unmatched disturbances

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