Mishra, H., De Stefano, M., & Ott, C. (2025). Is There a Closed-Loop Lagrangian for Hierarchical Motion Control? IEEE Control Systems Letters, 9, 1748–1753. https://doi.org/10.1109/LCSYS.2025.3582200
Institute of Electrical and Electronics Engineers (IEEE)
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Peer reviewed:
Yes
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Keywords:
hierarchical control; Lyapunov methods; Robotics
en
Abstract:
Yes. In this letter, we prove that the closed-loop Lagrangian in hierarchical motion control is an Euler-Lagrange system with symmetry, which additionally has geodesic invariance along the symmetry. The proposed theory enables a hierarchical control synthesis, in which the energetic behaviour is prescribed in advance. Using this approach, we derive a hierarchical control for the frm, which have an inherent Lagrangian symmetry.
