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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/ |