Title :
Simplified conditions for matching and for generalized matching in the theory of controlled Lagrangians
Author_Institution :
Dept. of Guidance & Control, Swedish Defence Res. Establ., Stockholm, Sweden
Abstract :
This paper presents simplified forms of the conditions for (generalized) matching, a theorem on the Auckly-Kapitanski-White method and an extension of the controlled Lagrangian method to systems with ideal constraints. This method is illustrated by an example of control for an anholonomically constrained system
Keywords :
asymptotic stability; closed loop systems; nonlinear systems; state feedback; state-space methods; Auckly-Kapitanski-White method; Lagrangian method; asymptotic stability; closed loop systems; constrained anholonomic system; state feedback; state space; underactuated Lagrangian systems; Control systems; Equations; Force control; Lagrangian functions; Motion control; State feedback; State-space methods; Sufficient conditions; Trajectory;
Conference_Titel :
American Control Conference, 2000. Proceedings of the 2000
Conference_Location :
Chicago, IL
Print_ISBN :
0-7803-5519-9
DOI :
10.1109/ACC.2000.876957
