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Controlled Lagrangian Methods and Tracking of Accelerated Motions

Zenkov, Dmitry V. and Bloch, Anthony M. and Marsden, Jerrold E. (2003) Controlled Lagrangian Methods and Tracking of Accelerated Motions. In: Proceedings of the 42nd IEEE Conference on Decision and Control. Vol.1. IEEE , pp. 533-538. ISBN 0-7803-7924-1

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Matching techniques are applied to the problem of stabilization of uniformly accelerated motions of mechanical systems with symmetry. The theory is illustrated with a simple model-a wheel and pendulum system.

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Additional Information:©2003, IEEE. The authors would like to thank the reviewers for helpful remarks. Research partially supported by NSF grant DMS-0306017. Research partially supported by NSF grants DMS 0103895 and 0305837. Research partially supported by ONR Contract N00014-02-1-0826
Funding AgencyGrant Number
NSF DMS-0306017
Subject Keywords:motion control , nonlinear control systems , nonlinear dynamical systems , pendulums , stability ; accelerated motions , controlled Lagrangian methods , matching techniques , mechanical systems , nonlinear control systems , nonlinear dynamical systems , pendulum system , stabilization , tracking
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INSPEC Accession Number8106840
Record Number:CaltechAUTHORS:20101026-112031928
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Official Citation:Zenkov, D. V., A. M. Bloch, et al. (2003). Controlled Lagrangian methods and tracking of accelerated motions. Decision and Control, 2003. Proceedings. 42nd IEEE Conference on.
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:20539
Deposited By: Ruth Sustaita
Deposited On:01 Dec 2010 22:54
Last Modified:26 Dec 2012 12:33

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