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
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;
Conference_Titel :
Decision and Control (CDC), 2010 49th IEEE Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
978-1-4244-7745-6
DOI :
10.1109/CDC.2010.5717704
