Coordinated Control of Networked Mechanical Systems with Unstable Dynamics

Sujit Nair; Naomi Ehrich Leonard; Luc Moreau

doi:10.1109/CDC.2003.1272621

Coordinated Control of Networked Mechanical Systems with Unstable Dynamics

Sujit Nair, Naomi Ehrich Leonard, Luc Moreau

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

7 Scopus citations

Abstract

In this paper we present a coordinating control law for a network of mechanical systems with unstable dynamics. The control law is derived using the Method of Controlled Lagrangians together with potential shaping designed to couple the mechanical systems. The coupled system is Lagrangian with symmetry, and energy methods are used to prove stability and coordinated behavior. The class of mechanical systems we consider includes the planar inverted pendulum on a cart as well as the spherical inverted pendulum on a 2D cart. For these examples, the control law stabilizes each inverted pendulum and coordinates the relative motion of the carts.

Original language	English (US)
Title of host publication	Proceedings of the IEEE Conference on Decision and Control
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	550-555
Number of pages	6
ISBN (Print)	0780379241
DOIs	https://doi.org/10.1109/CDC.2003.1272621
State	Published - 2003
Event	42nd IEEE Conference on Decision and Control - Maui, HI, United States Duration: Dec 9 2003 → Dec 12 2003

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
Volume	1
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Other

Other	42nd IEEE Conference on Decision and Control
Country/Territory	United States
City	Maui, HI
Period	12/9/03 → 12/12/03

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

Access to Document

10.1109/CDC.2003.1272621

Cite this

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title = "Coordinated Control of Networked Mechanical Systems with Unstable Dynamics",

abstract = "In this paper we present a coordinating control law for a network of mechanical systems with unstable dynamics. The control law is derived using the Method of Controlled Lagrangians together with potential shaping designed to couple the mechanical systems. The coupled system is Lagrangian with symmetry, and energy methods are used to prove stability and coordinated behavior. The class of mechanical systems we consider includes the planar inverted pendulum on a cart as well as the spherical inverted pendulum on a 2D cart. For these examples, the control law stabilizes each inverted pendulum and coordinates the relative motion of the carts.",

author = "Sujit Nair and Leonard, {Naomi Ehrich} and Luc Moreau",

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doi = "10.1109/CDC.2003.1272621",

language = "English (US)",

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series = "Proceedings of the IEEE Conference on Decision and Control",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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note = "42nd IEEE Conference on Decision and Control ; Conference date: 09-12-2003 Through 12-12-2003",

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Nair, S, Leonard, NE & Moreau, L 2003, Coordinated Control of Networked Mechanical Systems with Unstable Dynamics. in Proceedings of the IEEE Conference on Decision and Control. Proceedings of the IEEE Conference on Decision and Control, vol. 1, Institute of Electrical and Electronics Engineers Inc., pp. 550-555, 42nd IEEE Conference on Decision and Control, Maui, HI, United States, 12/9/03. https://doi.org/10.1109/CDC.2003.1272621

Coordinated Control of Networked Mechanical Systems with Unstable Dynamics. / Nair, Sujit; Leonard, Naomi Ehrich; Moreau, Luc.
Proceedings of the IEEE Conference on Decision and Control. Institute of Electrical and Electronics Engineers Inc., 2003. p. 550-555 (Proceedings of the IEEE Conference on Decision and Control; Vol. 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AU - Leonard, Naomi Ehrich

AU - Moreau, Luc

PY - 2003

Y1 - 2003

N2 - In this paper we present a coordinating control law for a network of mechanical systems with unstable dynamics. The control law is derived using the Method of Controlled Lagrangians together with potential shaping designed to couple the mechanical systems. The coupled system is Lagrangian with symmetry, and energy methods are used to prove stability and coordinated behavior. The class of mechanical systems we consider includes the planar inverted pendulum on a cart as well as the spherical inverted pendulum on a 2D cart. For these examples, the control law stabilizes each inverted pendulum and coordinates the relative motion of the carts.

AB - In this paper we present a coordinating control law for a network of mechanical systems with unstable dynamics. The control law is derived using the Method of Controlled Lagrangians together with potential shaping designed to couple the mechanical systems. The coupled system is Lagrangian with symmetry, and energy methods are used to prove stability and coordinated behavior. The class of mechanical systems we consider includes the planar inverted pendulum on a cart as well as the spherical inverted pendulum on a 2D cart. For these examples, the control law stabilizes each inverted pendulum and coordinates the relative motion of the carts.

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DO - 10.1109/CDC.2003.1272621

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SN - 0780379241

T3 - Proceedings of the IEEE Conference on Decision and Control

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BT - Proceedings of the IEEE Conference on Decision and Control

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 42nd IEEE Conference on Decision and Control

Y2 - 9 December 2003 through 12 December 2003

ER -

Coordinated Control of Networked Mechanical Systems with Unstable Dynamics

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