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Potential and kinetic shaping for control of underactuated mechanical systems

Bloch, Anthony M. and Leonard, Naomi Ehrich and Chang, Dong Eui and Marsden, Jerrold E. (2000) Potential and kinetic shaping for control of underactuated mechanical systems. In: Proceedings of the 2000 American Control Conference. Proceedings of the American Control Conference. IEEE , Piscataway, NJ, pp. 3913-3917. ISBN 0-7803-5520-2 http://resolver.caltech.edu/CaltechAUTHORS:20101005-131039606

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Abstract

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 energy methods and the LaSalle 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.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1109/ACC.2000.876956 DOIUNSPECIFIED
http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=876956PublisherUNSPECIFIED
Additional Information:© 2000 IEEE.
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INSPEC Accession Number6805362
Record Number:CaltechAUTHORS:20101005-131039606
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20101005-131039606
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:20310
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:17 Nov 2010 00:26
Last Modified:26 Dec 2012 12:30

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