Dong Eui Chang

TL;DR: The method of controlled Lagrangians is extended to include potential shaping, which achieves complete state-space asymptotic stabilization of mechanical systems and extends the method to include a class of mechanical system without symmetry such as the inverted pendulum on a cart that travels along an incline.

TL;DR: In this paper, gyroscopic forces and scalar potentials are used to create swarming behaviors for multiple agent systems, which result in collision avoidance between the agents as well as with obstacles.

TL;DR: In this article, the equivalence of controlled Lagrangians and their Hamiltonian counterpart was shown under general hypotheses, where almost Poisson structures (Poisson brackets that may fail to satisfy the Jacobi identity) on the Hamiltonian side were used.

TL;DR: A controller that asymptotically stabilizes the inverted pendulum on a cart at a specific cart position for the conservative dynamic model and develops conditions for asymPTotic stability in the presence of linear damping.

TL;DR: In this paper, the transfer of satellites between elliptic Keplerian orbits using Lyapunov stability theory is studied, where the authors propose to use a feedback controller such that the target elliptic orbit becomes a locally asymptotically stable periodic orbit in the closed-loop dynamics.