Controlled Lagrangian Methods and Tracking of Accelerated Motions

Zenkov, D. V., A. M. Bloch, and J. E. Marsden

Proc. CDC, 42, 533-538

Abstract:

Matching techniques are applied to the problem of stabilization of uniformly accelerated motions of mechanical systems with symmetry. The theory is illustrated with a simple model--a wheel and pendulum system.