Potential Shaping and the Method of Controlled Lagrangians - Decision and Control, 1999. Proceedings of the 38th IEEE Conference on

Controlled Lagrangians and the stabilization of mechanical systems. II. Potential shaping

We extend the method of controlled Lagrangians (CL) to include potential shaping, which achieves complete state-space asymptotic stabilization of mechanical systems. The CL method deals with mechanical systems with symmetry and provides symmetry-preserving kinetic shaping and feedback-controlled dissipation for state-space stabilization in all but the symmetry variables. Potential shaping compl...

Matching and Stabilization by the Method of Controlled Lagrangians - Decision and Control, 1998. Proceedings of the 37th IEEE Conference on

We describe a class of mechanical systems for which the “method of controlled Lagrangians” provides a family of control laws that stabilize an unstable (relative) equilibrium. The controlled Lagrangian approach involves making modifications to the Lagrangian for the uncontrolled system such that the Euler-Lagrange equations derived from the modified or “controlled” Lagrangian describe the close...

Stabilization of Second-Order LTI Switched Systems - Decision and Control, 1999. Proceedings of the 38th IEEE Conference on

In this paper, the problem of asymptotically stabilizing switched systems consisting of second-order LTI subsystems is studied and solved. In a previous paper, the stabilization problem of switched systems consisting of subsystems with unstable foci was addressed. This paper extends the method therein to the stabilization of switched systems consisting of general second-order LTI subsystems. Ne...

Proceedings of the 6th International Conference on Science and Social Research (CSSR)(Malaysia)

Potential Shaping and the Method of Controlled Lagrangians

We extend the method of controlled Lagrangians to include potential shaping for complete state-space stabilization of mechanical systems. The method of controlled Lagrangians deals with mechanical systems with symmetry and provides symmetry-preserving kinetic shaping and feedback-controlled dissipation for state-space stabilization in all but the symmetry variables. Potential shaping complement...