Published 2006
| Published
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Controlled Lagrangians and Potential Shaping for Stabilization of Discrete Mechanical Systems
Chicago
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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.
Additional Information
© 2006 IEEE. The authors would like to thank the reviewers for helpful remarks. 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 grant DMS-0504747 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
- 20346
- Resolver ID
- CaltechAUTHORS:20101008-090656626
- NSF
- DMS-0305837
- NSF
- DMS-0604307
- NSF
- CMS-0408542
- NSF
- DMS-0504747
- University of Michigan Rackham faculty grant
- Air Force Office of Scientific Research (AFOSR)
- FA9550-05-1-0343
- NSF
- DMS-0306017
- NSF
- DMS-0604108
- Created
-
2010-11-23Created from EPrint's datestamp field
- Updated
-
2021-11-08Created from EPrint's last_modified field
- Series Name
- IEEE Conference on Decision and Control