Potential shaping and the method of controlled Lagrangians

Anthony M. Bloch, Naomi Ehrich Leonard

Research output: Contribution to journalConference article

33 Scopus citations

Abstract

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 complements the kinetic shaping by breaking symmetry and stabilizing the remaining state variables. The approach also extends the method of controlled Lagrangians to include a class of mechanical systems without symmetry such as the inverted pendulum on a cart that travels along an incline.

Original languageEnglish (US)
Pages (from-to)1652-1657
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Volume2
StatePublished - Dec 1 1999
Externally publishedYes
EventThe 38th IEEE Conference on Decision and Control (CDC) - Phoenix, AZ, USA
Duration: Dec 7 1999Dec 10 1999

All Science Journal Classification (ASJC) codes

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

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