Potential and kinetic shaping for control of underactuated mechanical systems

Proceedings of the American Control Conference

Volumn 6, Issue , 2000, Pages 3913-3917

  Bloch, Anthony M ^a   Chang, Dong Eui ^b   Leonard, Naomi Ehrich ^c   Marsden, Jerrold E ^b  

^a UNIVERSITY OF MICHIGAN   (United States)

^b CALIFORNIA INSTITUTE OF TECHNOLOGY   (United States)

^c Princeton University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ABELIAN GROUP; ASYMPTOTIC STABILIZATION; ENERGY FUNCTIONS; ENERGY METHOD; LASALLE'S INVARIANCE PRINCIPLE; MECHANICAL CONTROL SYSTEMS; MECHANICAL SYSTEMS; UNDER-ACTUATED MECHANICAL SYSTEMS;

KINETICS; MECHANICAL ENGINEERING; STABILIZATION; ASYMPTOTIC STABILITY; HAMILTONIANS; INVARIANCE; LAGRANGE MULTIPLIERS; POISSON EQUATION; SET THEORY; SYSTEM STABILITY; TENSORS;

MECHANICS; NONLINEAR CONTROL SYSTEMS;

KINETIC SHAPING; LASALLE INVARIANCE; LIE BRACKET; POTENTIAL SHAPING; UNDERACTUATED MECHANICAL SYSTEMS;

EID: 0034539151     PISSN: 07431619     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ACC.2000.876956     Document Type: Conference Paper

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