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On the method of energy shaping via static output feedback for stabilization of mechanical systems

Title
On the method of energy shaping via static output feedback for stabilization of mechanical systems
Authors
Chang, Dong EuiEun, Yongsoon
DGIST Authors
Eun, Yongsoon
Issue Date
2015-08
Citation
Journal of the Franklin Institute: Engineering and Applied Mathematics, 352(8), 3394-3404
Type
Article
Article Type
Article
Keywords
Energy-ShapingMechanical SystemsStatic Output Feedback
ISSN
0016-0032
Abstract
We develop theory of energy shaping via static output feedback to asymptotically stabilize mechanical systems. We first obtain matching conditions for equivalence via static output feedback of two given controlled mechanical systems. We then show that potential shaping is a special case of energy shaping via output feedback. Finally, we discover a class of mechanical systems that can be asymptotically stabilized by the potential shaping method. This class includes underactuated robots with elastic joints. © 2014 The Franklin Institute.
URI
http://hdl.handle.net/20.500.11750/5178
DOI
10.1016/j.jfranklin.2014.08.014
Publisher
Elsevier Ltd
Related Researcher
  • Author Eun, Yong Soon DSC Lab(Dynamic Systems and Control Laboratory)
  • Research Interests Resilient control systems; Control systems with nonlinear sensors and actuators; Quasi-linear control systems; Intelligent transportation systems; Networked control systems
Files:
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Collection:
Information and Communication EngineeringDSC Lab(Dynamic Systems and Control Laboratory)1. Journal Articles


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