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Matching and stabilization of discrete mechanical systems

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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Abstract

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.


Item Type:Article
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1002/pamm.200700390DOIUNSPECIFIED
http://onlinelibrary.wiley.com/doi/10.1002/pamm.200700390/abstractPublisherUNSPECIFIED
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.
Funders:
Funding AgencyGrant Number
NSFDMS-0305837
NSFDMS-0604307
NSFCMS-0408542
NSFDMS-0504747
NSFDMS-0726263
University of Michigan Rackham faculty grantUNSPECIFIED
Air Force Office of Scientific Research (AFOSR)FA9550-05-1-0343
NSFDMS-0306017
NSFDMS-0604108
Record Number:CaltechAUTHORS:20101005-081252716
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20101005-081252716
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.
ID Code:20289
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:18 Nov 2010 23:59
Last Modified:26 Dec 2012 12:29

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