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中文摘要：
受控拉格朗日函数（Controlled Lagrangians,CL）方法是一种以能量观点设计简单力学系统镇定控制律的方法.自1997年正式提出以来,CL法在理论及应用上都得到了发展.理论上包括研究CL法的可行性,针对特定类系统简化CL法设计,利用CL法解决镇定之外的控制问题.应用上主要是将CL法用于多种实际力学系统,尤其是欠驱动力学系统的控制.本综述将介绍CL法的主要思想与理论;回顾各控制研究团队所作理论与应用推广;讨论关于CL法一些尚存的问题以及未来研究方向.
英文摘要：
The method of controlled Lagrangian （CL） has been developed to stabilize simple mechanical systems based on energy shaping. Since the introduction of this controller design methodology in 1997, many theoretical developments and practical applications have been reported in the literature. The theoretical developments include a series of criteria for its applicability, special shortcuts that are useful when dealing with particular classes of systems, and the incorporation of additional features to handle control scenarios other than just stabilization. On the application side, the method has been applied to a wide variety of practical mechanical control systems, especially under actuated systems. The purpose of this survey is to review the fundamental idea and theory of this controller design methodology, research developments achieved by different research groups, as well as to discuss the current open problems and future research directions.
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