Francesco Bullo,
Andrew D. Lewis
Geometric Control of Mechanical Systems
Modeling, Analysis, and Design for Simple Mechanical Control Systems
Paperback Engels 2010 9781441919687
Verwachte levertijd ongeveer 9 werkdagen
Samenvatting
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.
Specificaties
ISBN13:9781441919687
Taal:Engels
Bindwijze:paperback
Aantal pagina's:727
Uitgever:Springer New York
Druk:0
Hoofdrubriek:Automatisering algemeen, Computer en informatica
Lezersrecensies
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Inhoudsopgave
<P><STRONG>Part I</STRONG>: 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.- <STRONG>Part II</STRONG>: Analysis of mechanical control systems; Stability; Controllability; Low-order controllability and kinematic reduction ; Perturbation analysis.- <STRONG>Part III</STRONG>: 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.</P>
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