Coordinated Control of Networked Mechanical Systems with Unstable Dynamics

Sujit Nair, Naomi Ehrich Leonard, Luc Moreau

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish (US)
Title of host publicationProceedings of the IEEE Conference on Decision and Control
Pages550-555
Number of pages6
DOIs
StatePublished - Dec 1 2003
Event42nd IEEE Conference on Decision and Control - Maui, HI, United States
Duration: Dec 9 2003Dec 12 2003

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume1
ISSN (Print)0191-2216

Other

Other42nd IEEE Conference on Decision and Control
CountryUnited States
CityMaui, HI
Period12/9/0312/12/03

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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  • Cite this

    Nair, S., Leonard, N. E., & Moreau, L. (2003). Coordinated Control of Networked Mechanical Systems with Unstable Dynamics. In Proceedings of the IEEE Conference on Decision and Control (pp. 550-555). (Proceedings of the IEEE Conference on Decision and Control; Vol. 1). https://doi.org/10.1109/CDC.2003.1272621