Geometric Control of Mechanical Systems: Modeling, Analysis, and Design for Simple Mechanical Contro
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- Artikel-Nr.: 10316618
Beschreibung
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: | 158 |
Gewicht: | 1103 g |
Höhe: | 235 |
Seiten: | 727 |
Sprachen: | Englisch |
Autor: | Andrew D. Lewis, Francesco Bullo |
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