Bullo, Francesco.
Geometric control of mechanical systems : modeling, analysis, and design for simple mechanical control systems / Francesco Bullo, Andrew D. Lewis.
— New York : Springer, c2005. xxiv, 726 p. : il. ; 24 cm. — (Texts in applied mathematics ; 49)
Incluye referencias bibliográficas (p. [657]-688) e índices.
Contenido: 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.
ISBN 0387221956 (alk. paper)
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