Authors | |
Publisher | Springer, Berlin |
Year | |
Pages | 727 |
Version | paperback |
Language | English |
ISBN | 9781441919687 |
Categories | Cybernetics & systems theory |
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.
Geometric Control of Mechanical Systems: Modeling, Analysis, and Design for Simple Mechanical Control Systems
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.