Published 2008
| Accepted Version
Book Section - Chapter
Open
Relaxed matching for stabilization of relative equilibria of mechanical systems
Abstract
The method of controlled Lagrangians is a technique for stabilizing relative equilibria of mechanical systems with symmetry. This paper develops a modication of kinetic shaping technique in the theory of controlled Lagrangians. The main idea is that the dynamics associated with the controlled Lagrangian is amended by non-conservative forces that act in the shape directions; this gives additional freedom and hence applicability to the method. The usefulness of this methodology is demonstrated on the pendulum on a rotor arm.
Additional Information
DAL and DVZ were partially supported by NSF grants DMS-0306017 and DMS- 0604108. AMB was supported in parts by NSF grants CMS-0408542 and DMS- 604307. JEM was partially supported by AFOSR grant FA9550-08-1-0173.Attached Files
Accepted Version - LoBlMaZe2008.pdf
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LoBlMaZe2008.pdf
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Additional details
- Eprint ID
- 20320
- Resolver ID
- CaltechAUTHORS:20101006-100038652
- DMS-0306017
- NSF
- DMS-0604108
- NSF
- CMS-0408542
- NSF
- DMS-604307
- NSF
- FA9550-08-1-0173
- Air Force Office of Scientific Research (AFOSR)
- Created
-
2010-11-19Created from EPrint's datestamp field
- Updated
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2019-10-03Created from EPrint's last_modified field