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

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...

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Detalles Bibliográficos
Clasificación:Libro Electrónico
Autores principales: Bullo, Francesco (Autor), Lewis, Andrew D. (Autor)
Autor Corporativo: SpringerLink (Online service)
Formato: Electrónico eBook
Idioma:Inglés
Publicado: New York, NY : Springer New York : Imprint: Springer, 2005.
Edición:1st ed. 2005.
Colección:Texts in Applied Mathematics, 49
Temas:
System theory.
Control theory.
Mathematics.
Control engineering.
Robotics.
Automation.
Multibody systems.
Vibration.
Mechanics, Applied.
Topological groups.
Lie groups.
Systems Theory, Control .
Applications of Mathematics.
Control, Robotics, Automation.
Multibody Systems and Mechanical Vibrations.
Topological Groups and Lie Groups.
Acceso en línea:Texto Completo
Tabla de Contenidos:
  • 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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