Geometric control of mechanical systems : modeling, analysis, and design for simple mechanical control systems
著者
書誌事項
Geometric control of mechanical systems : modeling, analysis, and design for simple mechanical control systems
（Texts in applied mathematics, 49）
Springer, c2005
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注記
Includes bibliographical references (p. [657]-688) and indexes
内容説明・目次
内容説明
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.
目次
- 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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