DocumentCode
3317386
Title
The method of controlled Lagrangians: Energy plus force shaping
Author
Chang, Dong Eui
Author_Institution
Appl. Math., Univ. of Waterloo, Waterloo, ON, Canada
fYear
2009
fDate
15-18 Dec. 2009
Firstpage
3329
Lastpage
3334
Abstract
We present our recent results on the method of controlled Lagrangians in order to stabilize mechanical systems by shaping both energy and external forces. Various easily verifiable criteria for stabilizability by this method are given and they are illustrated with examples. Our results incorporate and extend those in the literature.
Keywords
nonlinear control systems; stability criteria; controlled Lagrangian method; energy force; external force; mechanical system stability; stability criteria; Algebra; Control systems; Feedback loop; Force control; Force feedback; Lagrangian functions; Linear systems; Shape control; Sufficient conditions; Tensile stress;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on
Conference_Location
Shanghai
ISSN
0191-2216
Print_ISBN
978-1-4244-3871-6
Electronic_ISBN
0191-2216
Type
conf
DOI
10.1109/CDC.2009.5400875
Filename
5400875
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