DocumentCode
2535951
Title
Simplified conditions for matching and for generalized matching in the theory of controlled Lagrangians
Author
Hamberg, Johan
Author_Institution
Dept. of Guidance & Control, Swedish Defence Res. Establ., Stockholm, Sweden
Volume
6
fYear
2000
fDate
2000
Firstpage
3918
Abstract
This paper presents simplified forms of the conditions for (generalized) matching, a theorem on the Auckly-Kapitanski-White method and an extension of the controlled Lagrangian method to systems with ideal constraints. This method is illustrated by an example of control for an anholonomically constrained system
Keywords
asymptotic stability; closed loop systems; nonlinear systems; state feedback; state-space methods; Auckly-Kapitanski-White method; Lagrangian method; asymptotic stability; closed loop systems; constrained anholonomic system; state feedback; state space; underactuated Lagrangian systems; Control systems; Equations; Force control; Lagrangian functions; Motion control; State feedback; State-space methods; Sufficient conditions; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2000. Proceedings of the 2000
Conference_Location
Chicago, IL
ISSN
0743-1619
Print_ISBN
0-7803-5519-9
Type
conf
DOI
10.1109/ACC.2000.876957
Filename
876957
Link To Document