Stabilization of mechanical systems using controlled Lagrangians

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 the controlled system is Lagrangian by construction, energy methods can be used to find control gains that yield closed-loop stability. The procedure is demonstrated for the problem of stabilization of an inverted pendulum on a cart and for the problem of stabilization of rotation of a rigid spacecraft about its unstable intermediate axis using a single internal rotor. Similar results hold for the dynamics of an underwater vehicle.