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

Name: Geometric Control of Mechanical Systems Modeling, Analysis, and Design for Simple Mechanical Control Systems
Availability: InStock
ISBN: 9780387221953

ISBN-10: 0387221956

ISBN-13: 9780387221953

Edition: 2005

Authors: Francesco Bullo, Andrew D. Lewis

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Description:

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. The book contains extensive examples and exercises, and will be suitable for a growing number of courses in this area. It begins with the detailed mathematical background,…

Book details

Copyright year: 2005
Publisher: Springer New York
Publication date: 11/4/2004
Binding: Hardcover
Pages: 727
Size: 6.10" wide x 9.25" long x 1.50" tall
Weight: 2.596
Language: English




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



Analysis of mechanical control systems


Stability


Controllability


Low-order controllability and kinematic reduction


Perturbation analysis



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