Controlled Lagrangians and Stabilization of Discrete Mechanical Systems I

Details Controlled Lagrangians and Stabilization of Discrete Mechanical Systems I Controlled Lagrangians and Stabilization of Discrete Mechanical Systems I

2007-04-30

arxiv.org/abs/0704.3875v1

Mathematics

Optimization and Control

9 pages, 7 figures

Scientific paper

Controlled Lagrangian and matching techniques are developed for the stabilization of relative equilibria and equilibria of discrete mechanical systems with symmetry as well as broken symmetry. Interesting new phenomena arise in the controlled Lagrangian approach in the discrete context that are not present in the continuous theory. In particular, to make the discrete theory effective, one can make an appropriate selection of momentum levels or, alternatively, introduce a new parameter into the controlled Lagrangian to complete the kinetic matching procedure. Specifically, new terms in the controlled shape equation that are necessary for potential matching in the discrete setting are introduced. The theory is illustrated with the problem of stabilization of the cart-pendulum system on an incline. The paper also discusses digital and model predictive controllers.

Affiliated with

Also associated with

No associations

Rating

Controlled Lagrangians and Stabilization of Discrete Mechanical Systems I does not yet have a rating. At this time, there are no reviews or comments for this scientific paper.

If you have personal experience with Controlled Lagrangians and Stabilization of Discrete Mechanical Systems I, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Controlled Lagrangians and Stabilization of Discrete Mechanical Systems I will most certainly appreciate the feedback.

Rate now

Comments { 0 }

Profile ID: LFWR-SCP-O-414953