Published December 2007
| Published
Journal Article
Open
Matching and stabilization of discrete mechanical systems
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.
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.Attached Files
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Additional details
- Eprint ID
- 20289
- Resolver ID
- CaltechAUTHORS:20101005-081252716
- NSF
- DMS-0305837
- NSF
- DMS-0604307
- NSF
- CMS-0408542
- NSF
- DMS-0504747
- NSF
- DMS-0726263
- University of Michigan Rackham faculty grant
- Air Force Office of Scientific Research (AFOSR)
- FA9550-05-1-0343
- NSF
- DMS-0306017
- NSF
- DMS-0604108
- Created
-
2010-11-18Created from EPrint's datestamp field
- Updated
-
2021-11-08Created from EPrint's last_modified field