From Nonlinear to Hamiltonian via Feedback
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Departmental Papers (ESE)
General Robotics, Automation, Sensing and Perception Laboratory
General Robotics, Automation, Sensing and Perception Laboratory
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Tabuada, Paulo
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Mechanical control systems are a very important class of nonlinear control systems. They possess a rich mathematical structure which can be extremely important for the solution of various control problems. In this paper, we expand the applicability of design methodologies developed for mechanical control systems by locally rendering nonlinear control systems, mechanical by a proper choice of feedback. In particular, we characterize control systems which can be transformed to Hamiltonian control systems by a local feedback transformation.
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2002-12-10
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Departmental Papers (ESE)
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2023-05-16T22:29:19.000
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Copyright 2002 IEEE. Reprinted from Proceedings of the 41st IEEE Conference on Decision and Control 2002, Volume 2, pages 1515-1520. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
Copyright 2002 IEEE. Reprinted from Proceedings of the 41st IEEE Conference on Decision and Control 2002, pages 1515-1520 vol. 2. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
Copyright 2002 IEEE. Reprinted from Proceedings of the 41st IEEE Conference on Decision and Control 2002, pages 1515-1520 vol. 2. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.