In constrained optimisation, the augmented Lagrangian method is considered as one of the most effective and efficient methods. This paper studies the behaviour of augmented Lagrangian function (ALF) in the solution space and then proposes an improved augmented Lagrangian method. We have shown that our proposed method can overcome some of the drawbacks of the conventional augmented Lagrangian me...

We propose an algorithmic approach to stabilization of Lagrangian systems. The first step involves making admissible modifications to the Lagrangian for the uncontrolled system, thereby constructing what we call the controlled Lagrangian. The Euler-Lagrange equations derived from the controlled Lagrangian describe the closed-loop system where new terms are identified with control forces. Since ...

A Space Free-Flying Robot (SFFR) includes an actuated base equipped with one or more manipulators to perform on-orbit missions. Distinct from fixed-based manipulators, the spacecraft (base) of a SFFR responds to dynamic reaction forces due to manipulator motions. In order to control such a system, it is essential to consider the dynamic coupling between the manipulators and the base. Explicit d...