کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
718010 892252 2012 6 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Variational Structures for Hamel's Equations and Stabilization*
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مکانیک محاسباتی
پیش نمایش صفحه اول مقاله
Variational Structures for Hamel's Equations and Stabilization*
چکیده انگلیسی

Hamel's equations are an analogue of the Euler–Lagrange equations of Lagrangian mechanics when the velocity is measured relative to a frame which is not related to system's local configuration coordinates. The use of this formalism often leads to a simpler representation of dynamics but introduces additional terms in the equations of motion. The paper elucidates the variational nature of Hamel's equations and discusses their utility in control and stabilization. The latter is illustrated with the problem of stabilization of a falling disk.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: IFAC Proceedings Volumes - Volume 45, Issue 19, 2012, Pages 178-183