Bloch, Anthony M. and Leonard, Naomi Ehrich and Marsden, Jerrold E. (1999) Stabilization of the pendulum on a rotor arm by the method of controlled Lagrangians. In: Proceedings of the 1999 IEEE International Conference on Robotics and Automation. Vol.1. Institute of Electrical and Electronics Engineers , Piscataway, NJ, pp. 500-505. ISBN 0-7803-51 80-0-5 http://resolver.caltech.edu/CaltechAUTHORS:BLOieeeicra99
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Obtains feedback stabilization of an inverted pendulum on a rotor arm by the “method of controlled Lagrangians”. This approach involves modifying the Lagrangian for the uncontrolled system so that the Euler-Lagrange equations derived from the modified or “controlled” Lagrangian describe the closed-loop system. For the closed-loop equations to be consistent with available control inputs, the modifications to the Lagrangian must satisfy “matching” conditions. The pendulum on a rotor arm requires an interesting generalization of our earlier approach which was used for systems such as a pendulum on a cart.
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|Deposited On:||14 Jul 2005|
|Last Modified:||20 Sep 2016 21:01|
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