Title :
Notes on energy shaping
Author :
Lewis, Andrew D.
Author_Institution :
Dept. of Math. & Stat., Queen´´s Univ., Kingston, Ont., Canada
Abstract :
The problem of shaping the kinetic and potential energy of a mechanical system by feedback is cast in a differential geometric framework. The nature of the set of solutions to the potential energy shaping problem is described. The kinetic energy shaping problem is posed in (1) an affine differential geometric framework and (2) a manner where the geometric integrability theory for partial differential equations can be applied.
Keywords :
closed loop systems; differential geometry; feedback; nonlinear control systems; partial differential equations; affine differential geometric framework; feedback; geometric framework; geometric integrability theory; kinetic energy shaping; mechanical system; partial differential equations; potential energy shaping; Damping; Feedback; Kinetic energy; Kinetic theory; Lagrangian functions; Mechanical systems; Nonlinear equations; Partial differential equations; Potential energy; Stability;
Conference_Titel :
Decision and Control, 2004. CDC. 43rd IEEE Conference on
Print_ISBN :
0-7803-8682-5
DOI :
10.1109/CDC.2004.1429552
