The problem of shaping the kinetic and potential energy of a mechanical system by feedback is cast in a differential geometric framework. The nature of the set of solutions to the potential energy shaping problem is described. The kinetic energy shaping problem is posed in (1) an affine differential geometric framework and (2) a manner where the geometric integrability theory for partial differential equations can be applied.

139K pdf
Last Updated: Fri Apr 25 10:10:54 2025