Title :
General matching conditions in the theory of controlled Lagrangians
Author_Institution :
Dept. of Guidance & Control, Swedish Defence Res. Establ., Stockholm, Sweden
Abstract :
Gives necessary and sufficient conditions for matching and generalized matching and sufficient criteria for stabilizability by the generalized matching method. A few examples are given, including an inverted pendulum on a cart. It is probably straight forward to extend the methods given here to wider classes of problems, including Lagrangians with vector potential terms, affine conditions on the admissible controls (allowing for systems with inner dissipation) and nonholonomic constraints
Keywords :
asymptotic stability; closed loop systems; dynamics; nonlinear control systems; position control; admissible controls; affine conditions; controlled Lagrangians; general matching conditions; inner dissipation; inverted pendulum; necessary and sufficient conditions; nonholonomic constraints; sufficient criteria; vector potential terms; Asymptotic stability; Control systems; Equations; Force control; Lagrangian functions; Mechanical systems;
Conference_Titel :
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location :
Phoenix, AZ
Print_ISBN :
0-7803-5250-5
DOI :
10.1109/CDC.1999.831306
