Potential and kinetic shaping for control of underactuated mechanical systems

被引：0

作者：

Bloch, AM ^{[1
]}

Chang, DE ^{[1
]}

Leonard, NE ^{[1
]}

Marsden, JE ^{[1
]}

机构：

[1] Univ Michigan, Dept Math, Ann Arbor, MI 48109 USA

来源：

PROCEEDINGS OF THE 2000 AMERICAN CONTROL CONFERENCE, VOLS 1-6 | 2000年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：3913 / 3917

页数：5

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