Mostrar el registro sencillo del ítem
dc.contributor.author
Grillo, Sergio Daniel
dc.contributor.author
Salomone, Leandro Martin
dc.contributor.author
Zuccalli, Marcela
dc.date.available
2019-06-12T23:19:14Z
dc.date.issued
2017-12
dc.identifier.citation
Grillo, Sergio Daniel; Salomone, Leandro Martin; Zuccalli, Marcela; On the relationship between the energy shaping and the Lyapunov constraint based methods; American Institute of Mathematical Sciences; Journal of Geometric Mechanics; 9; 4; 12-2017; 411-437
dc.identifier.issn
1941-4889
dc.identifier.uri
http://hdl.handle.net/11336/78163
dc.description.abstract
In this paper, we make a review of the controlled Hamiltonians (CH) method and its related matching conditions, focusing on an improved version recently developed by D.E. Chang. Also, we review the general ideas around the Lyapunov constraint based (LCB) method, whose related partial differential equations (PDEs) were originally studied for underactuated systems with only one actuator, and then we study its PDEs for an arbitrary number of actuators. We analyze and compare these methods within the framework of Differential Geometry, and from a purely theoretical point of view. We show, in the context of control systems defined by simple Hamiltonian functions, that the LCB method and the Chang’s version of the CH method are equivalent stabilization methods (i.e. they give rise to the same set of control laws). In other words, we show that the Chang’s improvement of the energy shaping method is precisely the LCB method. As a by-product, coordinate-free and connection-free expressions of Chang’s matching conditions are obtained.
dc.format
application/pdf
dc.language.iso
eng
dc.publisher
American Institute of Mathematical Sciences
dc.rights
info:eu-repo/semantics/openAccess
dc.rights.uri
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.subject
Control Systems
dc.subject
Energy Shaping
dc.subject
Hamiltonian Systems
dc.subject
Higher-Order Constraints
dc.subject
Lyapunov Function
dc.subject.classification
Matemática Pura
dc.subject.classification
Matemáticas
dc.subject.classification
CIENCIAS NATURALES Y EXACTAS
dc.title
On the relationship between the energy shaping and the Lyapunov constraint based methods
dc.type
info:eu-repo/semantics/article
dc.type
info:ar-repo/semantics/artículo
dc.type
info:eu-repo/semantics/publishedVersion
dc.date.updated
2019-06-11T15:22:19Z
dc.identifier.eissn
1941-4897
dc.journal.volume
9
dc.journal.number
4
dc.journal.pagination
411-437
dc.journal.pais
Estados Unidos
dc.description.fil
Fil: Grillo, Sergio Daniel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - La Plata; Argentina. Comisión Nacional de Energía Atómica. Gerencia del Área de Energía Nuclear. Instituto Balseiro; Argentina
dc.description.fil
Fil: Salomone, Leandro Martin. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - La Plata; Argentina. Universidad Nacional de La Plata. Facultad de Ciencias Exactas. Departamento de Matemáticas; Argentina
dc.description.fil
Fil: Zuccalli, Marcela. Universidad Nacional de La Plata. Facultad de Ciencias Exactas. Departamento de Matemáticas; Argentina
dc.journal.title
Journal of Geometric Mechanics
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/doi/http://dx.doi.org/10.3934/jgm.2017018
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/url/http://aimsciences.org//article/doi/10.3934/jgm.2017018
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/url/https://arxiv.org/abs/1601.03975
Archivos asociados