DocumentCode
2468737
Title
Controlled Lagrangians and Potential Shaping for Stabilization of Discrete Mechanical Systems
Author
Bloch, Anthony M. ; Leok, Melvin ; Marsden, Jerrold E. ; Zenkov, Dmitry V.
Author_Institution
Dept. of Math., Michigan Univ., Ann Arbor, MI
fYear
2006
fDate
13-15 Dec. 2006
Firstpage
3333
Lastpage
3338
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
Keywords
asymptotic stability; digital control; discrete systems; nonlinear control systems; predictive control; state-space methods; cart-pendulum system; controlled Lagrangians; controlled shape equation; digital control; discrete mechanical system; model predictive control; potential shaping; state-space asymptotic stabilization; Control systems; Digital control; Integral equations; Lagrangian functions; Mathematics; Mechanical systems; Predictive control; Predictive models; Shape control; USA Councils;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2006 45th IEEE Conference on
Conference_Location
San Diego, CA
Print_ISBN
1-4244-0171-2
Type
conf
DOI
10.1109/CDC.2006.376695
Filename
4177277
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