Bloch, Anthony M. and Leok, Melvin and Marsden, Jerrold E. and Zenkov, Dmitry V. (2007) Matching and stabilization of discrete mechanical systems. Proceedings in Applied Mathematics and Mechanics, 7 (1). pp. 1030603-1030604. ISSN 1617-7061 http://resolver.caltech.edu/CaltechAUTHORS:20101005-081252716
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Controlled Lagrangian and matching techniques are developed for the stabilization of equilibria of discrete mechanical systems with symmetry as well as broken symmetry. Interesting new phenomena arise in the controlled Lagrangian approach in the discrete context that are not present in the continuous theory. Specifically, a nonconservative force that is necessary for matching in the discrete setting is introduced. The paper also discusses digital and model predictive controllers.
|Additional Information:||© 2007 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim. The research of AMB was supported by NSF grants DMS-0305837, DMS-0604307, and CMS-0408542. The research of ML was partially supported by NSF grants DMS-0504747 and DMS-0726263, and a University of Michigan Rackham faculty grant. The research of JEM was partially supported by AFOSR Contract FA9550-05-1-0343. The research of DVZ was partially supported by NSF grants DMS-0306017 and DMS-0604108.|
|Official Citation:||Bloch, A. M., M. Leok, et al. (2007). "Matching and stabilization of discrete mechanical systems." PAMM 7(1): 1030603-1030604.|
|Usage Policy:||No commercial reproduction, distribution, display or performance rights in this work are provided.|
|Deposited By:||Tony Diaz|
|Deposited On:||18 Nov 2010 23:59|
|Last Modified:||26 Dec 2012 12:29|
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