David Long, North Carolina State University


Relaxed Matching for Stabilization of Relative Equilibria of Mechanical Systems

Abstract: Bloch, Leonard, and Marsden proved that that under certain matching conditions a controlled mechanical system can be rewritten as an uncontrolled system for a suitable Lagrangian. This new representation leads to an interesting feedback stabilization strategy. However for many systems these matching conditions do not hold. In this talk we discuss a technique for relaxing the matching conditions. The theory is illustrated with the problem of stabilization of the steady-state motions of an inverted pendulum on a rotor arm.

Advisor: Dmitry Zenkov (NCSU)