Geometric Control of Mechanical Systems

Modeling, Analysis, and Design for Simple Mechanical Control Systems
Besorgungstitel | Lieferzeit: Besorgungstitel - Lieferbar innerhalb von 10 Werktagen I
ISBN-13:
9780387221953
Erscheinungsdatum:
04.11.2004
Seiten:
727
Autor:
Francesco Bullo
Gewicht:
1178 g
Format:
244x162x40 mm
Serie:
Texts in Applied Mathematics
Sprache:
Englisch
Beschreibung:

The primary emphasis of this book is the modeling, analysis, and control of mechanical systems. The methods and results presented can be applied to a large class of mechanical control systems, including applications in robotics, autonomous vehicle control, and multi-body systems. The book is unique in that it presents a unified, rather than an inclusive, treatment of control theory for mechanical systems. A distinctive feature of the presentation is its reliance on techniques from differential and Riemannian geometry.
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.
The area of analysis and control of mechanical systems using differential geometry is flourishing.

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