IEEE - Institute of Electrical and Electronics Engineers, Inc. - Controlled Lagrangians and the stabilization of mechanical systems. II. Potential shaping

Author(s): A.M. Bloch ; Dong Eui Chang ; N.E. Leonard ; J.E. Marsden
Sponsor(s): IEEE Control Systems Society
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 October 2001
Volume: 46
Page Count: 16
Page(s): 1,556 - 1,571
ISSN (Paper): 0018-9286
ISSN (Online): 1558-2523
DOI: 10.1109/9.956051
Regular:

For pt.I, see ibid., vol.45, p.2253-70 (2000). We extend the method of controlled Lagrangians (CL) to include potential shaping, which achieves complete state-space asymptotic stabilization of... View More

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