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Viser: Geometric Control of Mechanical Systems - Modeling, Analysis, and Design for Simple Mechanical Control Systems

Geometric Control of Mechanical Systems - Modeling, Analysis, and Design for Simple Mechanical Control Systems, 1. udgave

Geometric Control of Mechanical Systems

Modeling, Analysis, and Design for Simple Mechanical Control Systems
Francesco Bullo og Andrew D. Lewis
(2004)
Sprog: Engelsk
Springer London, Limited
685,00 kr.
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Detaljer Om Varen

  • 1. Udgave
  • Hardback: 726 sider
  • Udgiver: Springer London, Limited (November 2004)
  • Forfattere: Francesco Bullo og Andrew D. Lewis
  • ISBN: 9780387221953

The area of analysis and control of mechanical systems using differential geometry is flourishing.

This book collects many results over the last decade and provides a comprehensive introduction to the area.

Part I: Modeling of mechanical systems; Introductory examples and problems; Linear and multilinear algebra; Differential geometry; Simple mechanical control systems; Lie groups, systems on groups, and symmetries. -

Part II: Analysis of mechanical control systems; Stability; Controllability; Low-order controllability and kinematic reduction ; Perturbation analysis. -

Part III: A sampling of design methodologies; Linear and nonlinear potential shaping for stabilization; Stabilization and tracking for fully actuated systems; Stabilization and tracking using oscillatory controls; Motion planning for underactuated systems; Appendices; Time-dependent vector fields; Some proofs.
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