Title: Notes on energy shaping (17 pages)
Author(s): Andrew D. Lewis
Detail: Proceedings of the 43rd IEEE Conference on Decision and Control, December 2004, pages 4818-4823
Conference proceedings version: Download

Original manuscript: 2004/03/30
Manuscript last revised: 2004/12/04

The problem of shaping the kinetic and potential energy of a mechanical system by feedback is cast in a differential geometric framework. The nature of the set of solutions to the potential energy shaping problem is described. The kinetic energy shaping problem is posed in (1) an affine differential geometric framework and (2) a manner where the geometric integrability theory for partial differential equations can be applied.

371K pdf
Last Updated: Fri Oct 27 08:46:49 2017

Andrew D. Lewis (andrew at mast.queensu.ca)