The method of controlled Lagrangians: Energy plus force shaping

— We present our recent results on the method of controlled Lagrangians in order to stabilize mechanical systems by shaping both energy and external forces. Various easily verifiable criteria for stabilizability by this method are given and they are illustrated with examples. Our results incorporate and extend those in the literature.

• Type: Conference
• Year: 2009
• Where: CDC
• Authors: Dong Eui Chang
• Keywords: CDC 2009, Control Systems, Controlled Lagrangians, External Forces, Mechanical Systems