Titlebook: Geometric Control of Mechanical Systems; Modeling, Analysis, Francesco Bullo,Andrew D. Lewis Textbook 2005 Springer-Verlag New York 2005 g

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Differential geometrychapter we review the essential differential geometric tools used in the book. Since a thorough treatment of all parts of the subject necessary for our objectives would be even more lengthy than what we currently have, we essentially present a list of definitions and facts that follow from these def

CREEK

Simple mechanical control systemsils. In this chapter, we begin the presentation of the material that can be considered the core of the book. The aim in this chapter is to provide the methodology for going from a physical problem to a mathematical model. What is more, the mathematical model we consider uses the tools described in C

嬉耍

Lie groups, systems on groups, and symmetriesure in a mechanical system that can be exploited for analysis and control. This chapter discusses an important class of manifolds, called Lie groups, that arise naturally in rigid body kinematics, as well as the properties of mechanical systems defined on Lie groups or possessing Lie group symmetrie

亞當(dāng)心理陰影

亞當(dāng)心理陰影

GLUT

Low-order controllability and kinematic reductionol-affine example), even these very general results can fail to provide complete characterizations of the controllability of a system, even in rather simple examples. In this chapter we provide low-order controllability results that are quite sharp. These are extensions of results initially due of H

帶傷害

Perturbation analysisl signals: periodic, large-amplitude, high-frequency signals, which we refer to as oscillatory; and small-amplitude signals. For both classes of signals, we perform a perturbation analysis that predicts, with some specified level of accuracy, the behavior of the resulting forced affine connection sy

抒情短詩(shī)

Linear and nonlinear potential shaping for stabilizationmethods and potential energy shaping methods. Although these techniques are somewhat limited in scope, they are valuable because they provide some insight into the problem of stabilization, both generally and for mechanical systems. Readers can then use the experience gained from this chapter to mor