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Browse Conference Publications > Decision and Control, 2004. C ... Help

Notes on energy shaping

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1 Author(s)
Lewis, A.D. ; Dept. of Math. & Stat., Queen''s Univ., Kingston, Ont., Canada

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.

Published in:
Decision and Control, 2004. CDC. 43rd IEEE Conference on  (Volume:5 )

Date of Conference: 14-17 Dec. 2004

Page(s):
4818 - 4823 Vol.5
ISSN :
0191-2216
Print ISBN:
0-7803-8682-5
INSPEC Accession Number:
8401639
Digital Object Identifier :
10.1109/CDC.2004.1429552
Product Type:
Conference Publications

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