A remark on Controlled Lagrangian approach

被引：5

作者：

Shiriaev, Anton S. ^{[1
,2
]}

Freidovich, Leonid B. ^{[2
]}

Spong, Mark W. ^{[3
]}

机构：

[1] Norwegian Univ Sci & Technol, Dept Engn Cybernet, N-7491 Trondheim, Norway

[2] Umea Univ, Dept Appl Phys & Elect, S-90187 Umea, Sweden

[3] Univ Texas Dallas, Erik Jonsson Sch Engn & Comp Sci, Richardson, TX 75080 USA

来源：

EUROPEAN JOURNAL OF CONTROL | 2013年 / 19卷 / 06期

关键词：

Underactuated mechanical systems; Cart-pendulum system; Controlled Lagrangians; Virtual holonomic constraints; Motion and trajectory planning; Feedback equivalence; MECHANICAL SYSTEMS; STABILIZATION; LINEARIZATION; DYNAMICS;

D O I：

10.1016/j.ejcon.2013.09.004

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A new approach to trajectory planning for underactuated mechanical systems is presented and discussed based on analysis of feasible behaviors of a standard 2-DOF benchmark example - the cart-pendulum system. Following the Controlled Lagrangians approach of Bloch et al. (2000) [7], we present and re-establish known conditions and forms of feedback control laws for this example, which are leading to an equivalent completely integrable closed-loop Euler-Lagrange system; and then extend them. As shown, full integrability and, in particular, the presence of a linear in velocities first integral of dynamics plays the key role in an elegant new procedure for trajectory planning. (C) 2013 European Control Association. Published by Elsevier Ltd. All rights reserved.

引用

页码：438 / 444

页数：7

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