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Erschienen in:
2011 | OriginalPaper | Buchkapitel
Controlled Lagrangians
verfasst von : Dong Eui Chang
Erschienen in: Advances in the Theory of Control, Signals and Systems with Physical Modeling
Verlag: Springer Berlin Heidelberg
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We report our recent progress on the method of controlled Lagrangians. We present the following: a set of new matching conditions for controlled Lagrangian systems with external forces including velocity-independent forces; a criterion for energy shaping and exponential stabilizability by dissipation for all linear controlled Lagrangian systems; and a criterion for energy shaping and exponential stabilizability by dissipation for all controlled Lagrangian systems with one degree of underactuation.We illustrate the criteria with examples.