Massoud Hemmasian Ettefagh - Department of Mechanical Engineering, Amirkabir University of Technology
Mahyar Naraghi - Department of Mechanical Engineering, Amirkabir University of Technology
Mojtaba Mahzoon - School of Mechanical Engineering, Shiraz University

Controlled Lagrangian method is a branch of energy shaping methods designed to control underactuated mechanical systems. The method employs mechanical energy of a Lagrangian system as the Lyapunov function. This paper presents an application of controlled Lagrangian method to control a flexible link and exploit the results of the theoretical study in an experimental set-up. It is shown that the method’s performance is satisfactory from theoretical as well as empirical view point. Simulations and experiments validate the theoretical studies. Gains are tuned to attain good performance in the experimental study by regulating only one coefficient

Energy shaping method; Controlled Lagrangian; Flexible link; Underactuated system