Matching of Euler-Lagrange and Hamiltonian systems

G. Blankenstein; R. Ortega; Arjan van der Schaft

doi:10.3182/20020721-6-ES-1901.01559

Matching of Euler-Lagrange and Hamiltonian systems

G. Blankenstein, R. Ortega, Arjan van der Schaft

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

6 Citations (Scopus)

114 Downloads (Pure)

Abstract

This paper discusses the matching conditions as introduced in two recently developed methods for stabilization of underactuated mechanical systems. It is shown that the controlled Lagrangians method is naturally embedded in the IDA-PBC method. The integrability of the latter method is studied in general.

Original language	Undefined
Title of host publication	Proceedings of the 15th IFAC World Congress
Editors	E.F. Camacho, L. Basañez, J.A. de la Puente
Place of Publication	Oxford, UK
Publisher	Pergamon Press
Pages	981-986
Number of pages	6
ISBN (Print)	9780080441849
DOIs	https://doi.org/10.3182/20020721-6-ES-1901.01559
Publication status	Published - 2002
Event	15th IFAC World Congress 2002 - Barcelona, Spain Duration: 21 Jul 2002 → 26 Jul 2002 Conference number: 15 http://folk.ntnu.no/skoge/prost/proceedings/ifac2002/home.htm

Publication series

Name
Publisher	IFAC
Volume	15

Conference

Conference	15th IFAC World Congress 2002
Country/Territory	Spain
City	Barcelona
Period	21/07/02 → 26/07/02
Internet address	http://folk.ntnu.no/skoge/prost/proceedings/ifac2002/home.htm

Keywords

IR-69117
METIS-211003
Euler-Lagrange systems
Stabilization
Underactuated mechanical systems
EWI-16724
Hamiltonian systems

Access to Document

10.3182/20020721-6-ES-1901.01559

981

http://dx.doi.org/10.3182/20020721-6-ES-1901.01559

Cite this

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title = "Matching of Euler-Lagrange and Hamiltonian systems",

abstract = "This paper discusses the matching conditions as introduced in two recently developed methods for stabilization of underactuated mechanical systems. It is shown that the controlled Lagrangians method is naturally embedded in the IDA-PBC method. The integrability of the latter method is studied in general.",

keywords = "IR-69117, METIS-211003, Euler-Lagrange systems, Stabilization, Underactuated mechanical systems, EWI-16724, Hamiltonian systems",

author = "G. Blankenstein and R. Ortega and {van der Schaft}, Arjan",

year = "2002",

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language = "Undefined",

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editor = "E.F. Camacho and L. Basa{\~n}ez and {de la Puente}, J.A.",

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note = "15th IFAC World Congress 2002 ; Conference date: 21-07-2002 Through 26-07-2002",

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T1 - Matching of Euler-Lagrange and Hamiltonian systems

AU - Blankenstein, G.

AU - Ortega, R.

AU - van der Schaft, Arjan

N1 - Conference code: 15

PY - 2002

Y1 - 2002

N2 - This paper discusses the matching conditions as introduced in two recently developed methods for stabilization of underactuated mechanical systems. It is shown that the controlled Lagrangians method is naturally embedded in the IDA-PBC method. The integrability of the latter method is studied in general.

AB - This paper discusses the matching conditions as introduced in two recently developed methods for stabilization of underactuated mechanical systems. It is shown that the controlled Lagrangians method is naturally embedded in the IDA-PBC method. The integrability of the latter method is studied in general.

KW - IR-69117

KW - METIS-211003

KW - Euler-Lagrange systems

KW - Stabilization

KW - Underactuated mechanical systems

KW - EWI-16724

KW - Hamiltonian systems

U2 - 10.3182/20020721-6-ES-1901.01559

DO - 10.3182/20020721-6-ES-1901.01559

M3 - Conference contribution

SN - 9780080441849

SP - 981

EP - 986

BT - Proceedings of the 15th IFAC World Congress

A2 - Camacho, E.F.

A2 - Basañez, L.

A2 - de la Puente, J.A.

PB - Pergamon Press

CY - Oxford, UK

T2 - 15th IFAC World Congress 2002

Y2 - 21 July 2002 through 26 July 2002

ER -