Dissipation and controlled Euler-Poincaré systems

Proceedings of the IEEE Conference on Decision and Control

Volumn 4, Issue , 2001, Pages 3378-3383

  Woolsey, C A ^a   Bloch, A M ^a   Leonard, N E ^a   Marsden, J E ^a  

^a State University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ASYMPTOTIC STABILITY; CLOSED LOOP CONTROL SYSTEMS; DAMPING; DEGREES OF FREEDOM (MECHANICS); KINETIC ENERGY; LAGRANGE MULTIPLIERS; SYSTEM STABILITY;

EULER-POINCARE SYSTEMS; UNDERACTUATED MECHANICAL SYSTEMS;

FEEDBACK CONTROL;

EID: 0035711652     PISSN: 01912216     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (11)

1. Control of nonlinear underactuated systems
2. The matching conditions of controlled Lagrangians and interconnection and damping assignment passivity based control
3. Controlled Lagrangians and the stabilization of mechanical systems II: Potential shaping
4. The equivalence of controlled Lagrangian and controlled Hamiltonian systems for simple mechanical systems
5. Stabilization of rigid body dynamics by internal and external torques
6. Controlled Lagrangians and the stabilization of mechanical systems I: The first matching theorem
7. Controlled Lagrangians and the stabilization of Euler-Poincaré mechanical systems
8. General matching conditions in the theory of controlled Lagrangians
9. Stabilization of underactuated mechanical systems via interconnection and damping assignment
10. Global asymptotic stabilization of an underwater vehicle using internal rotors
11. Stabilizing underwater vehicle motion using internal rotors