Geometric Control of Mechanical Systems: Modeling, Analysis, and Design for Simple Mechanical Control Systems / Edition 1

Geometric Control of Mechanical Systems: Modeling, Analysis, and Design for Simple Mechanical Control Systems / Edition 1

by Francesco Bullo, Andrew D. Lewis
     
 

ISBN-10: 0387221956

ISBN-13: 9780387221953

Pub. Date: 11/01/2004

Publisher: Springer New York

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.  See more details below

Overview

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.

Product Details

ISBN-13:
9780387221953
Publisher:
Springer New York
Publication date:
11/01/2004
Series:
Texts in Applied Mathematics Series, #49
Edition description:
2004
Pages:
727
Product dimensions:
9.21(w) x 6.14(h) x 1.56(d)

Table of Contents

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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