Title :
The method of controlled Lagrangians: Energy plus force shaping
Author_Institution :
Appl. Math., Univ. of Waterloo, Waterloo, ON, Canada
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;
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
Print_ISBN :
978-1-4244-3871-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2009.5400875
