DocumentCode
2576714
Title
A complete characterization of stabilization of systems with one degree of underactuation with energy shaping method
Author
Gharesifard, Bahman
Author_Institution
Dept. of Mech. & Aerosp. Eng., Univ. of California San Diego, San Diego, CA, USA
fYear
2010
fDate
15-17 Dec. 2010
Firstpage
7105
Lastpage
7110
Abstract
A geometric formulation for stabilization of systems with one degree of underactuation which fully solves the energy shaping problem for these system is given. The results show that any linearly controllable simple mechanical system with one degree of underactuation is stabilizable by energy shaping, possibly via a closed-loop metric which is not necessarily positive-definite. An example of a system with one degree of underactuation is provided for which the stabilization by energy shaping method is not achievable using a positive-definite closed-loop metric.
Keywords
closed loop systems; geometry; stability; energy shaping method; geometric formulation; linearly controllable simple mechanical system; one degree of underactuation; positive-definite closed-loop metric; system stabilization; Equations; Kinetic energy; Measurement; Mechanical systems; Partial differential equations; Potential energy;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control (CDC), 2010 49th IEEE Conference on
Conference_Location
Atlanta, GA
ISSN
0743-1546
Print_ISBN
978-1-4244-7745-6
Type
conf
DOI
10.1109/CDC.2010.5717704
Filename
5717704
Link To Document