<div class="csl-bib-body">
<div class="csl-entry">Mishra, H., De Stefano, M., & Ott, C. (2025). Is There a Closed-Loop Lagrangian for Hierarchical Motion Control? <i>IEEE Control Systems Letters</i>, <i>9</i>, 1748–1753. https://doi.org/10.1109/LCSYS.2025.3582200</div>
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dc.identifier.uri
http://hdl.handle.net/20.500.12708/223630
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dc.description.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.
en
dc.language.iso
en
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dc.publisher
Institute of Electrical and Electronics Engineers (IEEE)
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dc.relation.ispartof
IEEE Control Systems Letters
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dc.subject
hierarchical control
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dc.subject
Lyapunov methods
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dc.subject
Robotics
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dc.title
Is There a Closed-Loop Lagrangian for Hierarchical Motion Control?
