Geometric Control of Mechanical Systems
Modeling, Analysis, and Design for Simple Mechanical Control Systems, Texts in Applied Mathematics 49
Erschienen am
29.11.2010, 1. Auflage 2010
Bibliografische Daten
ISBN/EAN: 9781441919687
Sprache: Englisch
Umfang: xxiv, 727 S., 102 s/w Illustr.
Format (T/L/B): 3.9 x 23.5 x 15.6 cm
Einband: kartoniertes Buch
Beschreibung
InhaltsangabePart 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.
Produktsicherheitsverordnung
Hersteller:
Springer Verlag GmbH
juergen.hartmann@springer.com
Tiergartenstr. 17
DE 69121 Heidelberg
Inhalt
Part I: Modeling of mechanical systems; Introductory examples andproblems; 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 planningfor underactuated systems; Appendices; Time-dependent vector fields; Some proofs.
