Potential and kinetic shaping for control of underactuated mechanical systems

Anthony M. Bloch, Dong Eui Chang, Naomi Ehrich Leonard, Jerrold E. Marsden

Research output: Contribution to journalArticlepeer-review

5 Scopus citations


This paper combines techniques of potential shaping with those of kinetic shaping to produce some new methods for stabilization of mechanical control systems. As with each of the techniques themselves, our method employs the energy methods and LaSalle's invariance principle. We give explicit criteria for asymptotic stabilization of equilibria of mechanical systems which, in the absence of controls, have a kinetic energy function that is invariant under an Abelian group.

Original languageEnglish (US)
Article number876956
Pages (from-to)3913-3917
Number of pages5
JournalProceedings of the American Control Conference
StatePublished - 2000
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering


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