Controlled Lagrangians and Potential Shaping for Stabilization of Discrete Mechanical Systems
Optimization and Control
2016-11-15 v2
Abstract
The method of controlled Lagrangians for discrete mechanical systems is extended to include potential shaping in order to achieve complete state-space asymptotic stabilization. New terms in the controlled shape equation that are necessary for matching in the discrete context are introduced. The theory is illustrated with the problem of stabilization of the cart-pendulum system on an incline. We also discuss digital and model predictive control.
Keywords
Cite
@article{arxiv.math/0602590,
title = {Controlled Lagrangians and Potential Shaping for Stabilization of Discrete Mechanical Systems},
author = {Anthony M. Bloch and Melvin Leok and Jerrold E. Marsden and Dmitry V. Zenkov},
journal= {arXiv preprint arXiv:math/0602590},
year = {2016}
}
Comments
IEEE Conference on Decision and Control, 2006 6 pages, 4 figures