|
Эта публикация цитируется в 1 научной статье (всего в 1 статье)
Mathematical problems of nonlinearity
Asymptotic Stabilizability of Underactuated Hamiltonian Systems With Two Degrees of Freedom
S. D. Grilloa, L. M. Salomoneb, M. Zuccallib a Instituto Balseiro, UNCuyo-CNEA,
av. Bustillo 9500, San Carlos de Bariloche, Río Negro, República Argentina
b CMaLP, Fac. de Ciencias Exactas, UNLP,
50 y 115, La Plata, Buenos Aires, República Argentina
Аннотация:
For an underactuated (simple) Hamiltonian system with two degrees of freedom and one degree of underactuation, a rather general condition that ensures its stabilizability, by means of the existence of a (simple) Lyapunov function, was found in a recent paper by D.E. Chang within the context of the energy shaping method. Also, in the same paper, some additional assumptions were presented in order to ensure also asymptotic stabilizability. In this paper we extend these results by showing that the above-mentioned condition is not only sufficient, but also necessary. And, more importantly, we show that no additional assumption is needed to ensure asymptotic stabilizability.
Ключевые слова:
underactuated systems, Hamiltonian systems, asymptotic stability, Lyapunov functions.
Поступила в редакцию: 30.04.2019 Принята в печать: 12.09.2019
Образец цитирования:
S. D. Grillo, L. M. Salomone, M. Zuccalli, “Asymptotic Stabilizability of Underactuated Hamiltonian Systems With Two Degrees of Freedom”, Rus. J. Nonlin. Dyn., 15:3 (2019), 309–326
Образцы ссылок на эту страницу:
https://www.mathnet.ru/rus/nd662 https://www.mathnet.ru/rus/nd/v15/i3/p309
|
Статистика просмотров: |
Страница аннотации: | 108 | PDF полного текста: | 28 | Список литературы: | 14 |
|