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dc.date.accessioned 2019-12-12T14:13:55Z
dc.date.available 2019-12-12T14:13:55Z
dc.date.issued 2016-12-02
dc.identifier.uri http://sedici.unlp.edu.ar/handle/10915/87297
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. en
dc.format.extent 411-437 es
dc.language en es
dc.subject Control systems es
dc.subject Energy shaping es
dc.subject Hamiltonian systems es
dc.subject Higher-order constraints es
dc.subject Lyapunov function es
dc.title On the relationship between the energy shaping and the lyapunov constraint based methods en
dc.type Articulo es
sedici.identifier.other doi:10.3934/jgm.2017018 es
sedici.identifier.other eid:2-s2.0-85031749555 es
sedici.identifier.issn 1941-4889 es
sedici.creator.person Grillo, Sergio es
sedici.creator.person Salomone, Leandro Martín es
sedici.creator.person Zuccalli, Marcela es
sedici.subject.materias Ciencias Exactas es
sedici.subject.materias Matemática es
sedici.description.fulltext true es
mods.originInfo.place Facultad de Ciencias Exactas es
sedici.subtype Preprint es
sedici.rights.license Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0)
sedici.rights.uri http://creativecommons.org/licenses/by-nc-sa/4.0/
sedici.description.peerReview peer-review es
sedici.relation.journalTitle Journal of Geometric Mechanics es
sedici.relation.journalVolumeAndIssue vol. 9, no. 4 es
sedici.rights.sherpa * Color: yellow * Pre-print del autor: si * Post-print del autor: restricted * Versión de editor/PDF:no * Condiciones: >>Pre-print on author's personal website, employers website or in free public servers of pre-prints or articles in subject area >>Pre-print si only be posted prior to acceptance >>Pre-print must acknowledge acceptance to publication with set statement (see policy) >>Pre-print to not be updated or replaced with final published version upon publication, instead a link to published version should be provided and set statement amended >>Post-print in institutional repository or centrally organised repositories >>Published source must be acknowledged >>Must link to publisher version >>Set statement to accompany deposit (see policy) >>Publisher's version/PDF no be used >>Publisher last reviewed on 02/10/2014 * Link a Sherpa: http://sherpa.ac.uk/romeo/issn/1941-4889/es/


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Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0) Except where otherwise noted, this item's license is described as Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0)