Geometric control of mechanical systems : modeling, analysis, and design for simple mechanical control systems
Francesco Bullo, Andrew D. Lewis.
New York : Springer, ©2005.
xxiv, 726 págs. : ilustraciones ; 24 cm.
Serie: Texts in applied mathematics ; 49
ISBN: 0387221956 (alk. paper)
Incluye referencias bibliográficas (p. [657]-688) e índices.
Reseña: MathSciNet, 2005h:70030
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.
