Title :
Controlled Lagrangian methods and tracking of accelerated motions
Author :
Zenkov, Dmitry V. ; Bloch, Anthony M. ; Marsden, Jerra E.
Author_Institution :
Dept. of Math., North Carolina State Univ., Raleigh, NC, USA
Abstract :
Matching techniques are applied to the problem of stabilization of uniformly accelerated motions of mechanical systems with symmetry. The theory is illustrated with a simple model-a wheel and pendulum system.
Keywords :
motion control; nonlinear control systems; nonlinear dynamical systems; pendulums; stability; accelerated motions; controlled Lagrangian methods; matching techniques; mechanical systems; nonlinear control systems; nonlinear dynamical systems; pendulum system; stabilization; tracking; Acceleration; Collaborative work; Control systems; Lagrangian functions; Mathematics; Mechanical systems; Motion control; Steady-state; Tracking; Wheels;
Conference_Titel :
Decision and Control, 2003. Proceedings. 42nd IEEE Conference on
Print_ISBN :
0-7803-7924-1
DOI :
10.1109/CDC.2003.1272618
