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DC Field Value Language Chang, Dong Eui - Eun, Yongsoon - 2023-06-21T15:40:26Z - 2023-06-21T15:40:26Z - 2017-04-10 - 2015-08 -
dc.identifier.issn 0016-0032 -
dc.identifier.uri -
dc.description.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. -
dc.language English -
dc.publisher Elsevier Ltd -
dc.title On the method of energy shaping via static output feedback for stabilization of mechanical systems -
dc.type Article -
dc.identifier.doi 10.1016/j.jfranklin.2014.08.014 -
dc.identifier.scopusid 2-s2.0-84908433376 -
dc.identifier.bibliographicCitation Journal of the Franklin Institute, v.352, no.8, pp.3394 - 3404 -
dc.description.isOpenAccess FALSE -
dc.subject.keywordPlus Static Output Feedback -
dc.subject.keywordPlus CONTROLLED LAGRANGIANS -
dc.subject.keywordPlus Energy-Shaping -
dc.subject.keywordPlus Mechanical Systems -
dc.citation.endPage 3404 -
dc.citation.number 8 -
dc.citation.startPage 3394 -
dc.citation.title Journal of the Franklin Institute -
dc.citation.volume 352 -
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Department of Electrical Engineering and Computer Science DSC Lab(Dynamic Systems and Control Laboratory) 1. Journal Articles


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