Stabilization of mechanical systems using controlled Lagrangians

We propose an algorithmic approach to stabilization of Lagrangian systems. The first step involves making admissible modifications to the Lagrangian for the uncontrolled system, thereby constructing what we call the controlled Lagrangian. The Euler-Lagrange equations derived from the controlled Lagrangian describe the closed-loop system where new terms are identified with control forces. Since the controlled system is Lagrangian by construction, energy methods can be used to find control gains that yield closed-loop stability. The procedure is demonstrated for the problem of stabilization of an inverted pendulum on a cart and for the problem of stabilization of rotation of a rigid spacecraft about its unstable intermediate axis using a single internal rotor. Similar results hold for the dynamics of an underwater vehicle

Matching and stabilization by the method of controlled Lagrangians

We describe a class of mechanical systems for which the “method of controlled Lagrangians” provides a family of control laws that stabilize an unstable (relative) equilibrium. The controlled Lagrangian approach involves making modifications to the Lagrangian for the uncontrolled system such that the Euler-Lagrange equations derived from the modified or “controlled” Lagrangian describe the closed-loop system. For the closed-loop equations to be consistent with available control inputs, the modifications to the Lagrangian must satisfy “matching” conditions. Our matching and stabilizability conditions are constructive; they provide the form of the controlled Lagrangian, the control law and, in some cases, conditions on the control gain(s) to ensure stability. The method is applied to stabilization of an inverted spherical pendulum on a cart and to stabilization of steady rotation of a rigid spacecraft about its unstable intermediate axis using an internal rotor

Controlled Lagrangians and the stabilization of mechanical systems. II. Potential shaping

For pt.I, see ibid., vol.45, p.2253-70 (2000). We extend the method of controlled Lagrangians (CL) to include potential shaping, which achieves complete state-space asymptotic stabilization of mechanical systems. The CL method deals with mechanical systems with symmetry and provides symmetry-preserving kinetic shaping and feedback-controlled dissipation for state-space stabilization in all but the symmetry variables. Potential shaping complements the kinetic shaping by breaking symmetry and stabilizing the remaining state variables. The approach also extends the method of controlled Lagrangians to include a class of mechanical systems without symmetry such as the inverted pendulum on a cart that travels along an incline

Potential shaping and the method of controlled Lagrangians

We extend the method of controlled Lagrangians to include potential shaping for complete state-space stabilization of mechanical systems. The method of controlled Lagrangians deals with mechanical systems with symmetry and provides symmetry-preserving kinetic shaping and feedback-controlled dissipation for state-space stabilization in all but the symmetry variables. Potential shaping complements the kinetic shaping by breaking symmetry and stabilizing the remaining state variables. The approach also extends the method of controlled Lagrangians to include a class of mechanical systems without symmetry such as the inverted pendulum on a cart that travels along an incline

Stabilization of the pendulum on a rotor arm by the method of controlled Lagrangians

Obtains feedback stabilization of an inverted pendulum on a rotor arm by the “method of controlled Lagrangians”. This approach involves modifying the Lagrangian for the uncontrolled system so that the Euler-Lagrange equations derived from the modified or “controlled” Lagrangian describe the closed-loop system. For the closed-loop equations to be consistent with available control inputs, the modifications to the Lagrangian must satisfy “matching” conditions. The pendulum on a rotor arm requires an interesting generalization of our earlier approach which was used for systems such as a pendulum on a cart

Controlled Lagrangians and the stabilization of mechanical systems. I. The first matching theorem

We develop a method for the stabilization of mechanical systems with symmetry based on the technique of controlled Lagrangians. The procedure involves making structured modifications to the Lagrangian for the uncontrolled system, thereby constructing the controlled Lagrangian. The Euler-Lagrange equations derived from the controlled Lagrangian describe the closed-loop system, where new terms in these equations are identified with control forces. Since the controlled system is Lagrangian by construction, energy methods can be used to find control gains that yield closed-loop stability. We use kinetic shaping to preserve symmetry and only stabilize systems module the symmetry group. The procedure is demonstrated for several underactuated balance problems, including the stabilization of an inverted planar pendulum on a cart moving on a line and an inverted spherical pendulum on a cart moving in the plane

Potential and kinetic shaping for control of underactuated mechanical systems

This paper combines techniques of potential shaping with those of kinetic shaping to produce some new methods for stabilization of mechanical control systems. As with each of the techniques themselves, our method employs energy methods and the LaSalle invariance principle. We give explicit criteria for asymptotic stabilization of equilibria of mechanical systems which, in the absence of controls, have a kinetic energy function that is invariant under an Abelian group

Controlled Lagrangian systems with gyroscopic forcing and dissipation

This paper describes a procedure for incorporating artificial gyroscopic forces and physical dissipation in the method of controlled Lagrangians. Energy-conserving gyroscopic 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 that 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

A ‘healthy baby’: The double imperative of preimplantation genetic diagnosis

This is the author's accepted manuscript. The final published article is available from the link below. Copyright @ 2010 The Authors.This article reports from a study exploring the social processes, meanings and institutions that frame and produce ‘ethical problems’ and clinical dilemmas for practitioners, scientists and others working in the specialty of preimplantation genetic diagnosis (PGD). A major topic in the data was that, in contrast to IVF, the aim of PGD is to transfer to the woman’s womb only those embryos likely to be unaffected by serious genetic disorders; that is, to produce ‘healthy babies’. Staff described the complex processes through which embryos in each treatment cycle must meet a double imperative: they must be judged viable by embryologists and ‘unaffected’ by geneticists. In this article, we focus on some of the ethical, social and occupational issues for staff ensuing from PGD’s double imperative.The Wellcome Trus

Sporting embodiment: sports studies and the (continuing) promise of phenomenology

Whilst in recent years sports studies have addressed the calls ‘to bring the body back in’ to theorisations of sport and physical activity, the ‘promise of phenomenology’ remains largely under-realised with regard to sporting embodiment. Relatively few accounts are grounded in the ‘flesh’ of the lived sporting body, and phenomenology offers a powerful framework for such analysis. A wide-ranging, multi-stranded, and interpretatively contested perspective, phenomenology in general has been taken up and utilised in very different ways within different disciplinary fields. The purpose of this article is to consider some selected phenomenological threads, key qualities of the phenomenological method, and the potential for existentialist phenomenology in particular to contribute fresh perspectives to the sociological study of embodiment in sport and exercise. It offers one way to convey the ‘essences’, corporeal immediacy and textured sensuosity of the lived sporting body. The use of Interpretative Phenomenological Analysis (IPA) is also critically addressed. Key words: phenomenology; existentialist phenomenology; interpretative phenomenological analysis (IPA); sporting embodiment; the lived-body; Merleau-Pont