Geometric Control of Mechanical Systems: Modeling, Analysis, and Design for Simple Mechanical Contro
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Lieferzeit: 21 Werktage
- Artikel-Nr.: 10107750
Beschreibung
From the contents:
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.
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.
Eigenschaften
Breite: | 159 |
Gewicht: | 1176 g |
Höhe: | 49 |
Länge: | 240 |
Seiten: | 727 |
Autor: | Andrew D. Lewis, Francesco Bullo |
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