Controlled Lagrangian Systems with Gyroscopic Forcing and Dissipation

Woolsey, C., C. K. Reddy, A. M. Bloch, D. E. Chang, N. E. Leonard and J. E. Marsden

European Journal of Control, 10, (2004), 1-27

Abstract:

This paper describes a procedure for incorporating artificial gyroscopic forces in the method of controlled Lagrangians. These energy-conserving forces provide additional freedom to expand the basin of stability and tune closed-loop system performance. We also study the effect of physical dissipation on the closed-loop dynamics and discuss conditions for stability in the presence of natural damping. We apply the technique to the inverted pendulum on a cart, a case study from previous papers. We develop a controller which asymptotically stabilizes the inverted equilibrium at a specific cart position for the conservative dynamic model. The region of attraction contains all states for which the pendulum is elevated above the horizontal plane. We also develop conditions for asymptotic stability in the presence of linear damping.