Titlebook: Lagrangian and Hamiltonian Methods For Nonlinear Control 2006; Proceedings from the F. Allgüwer,P. Fleming,Kenji Fujimoto Conference procee

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Lagrangian and Hamiltonian Methods For Nonlinear Control 2006978-3-540-73890-9Series ISSN 0170-8643 Series E-ISSN 1610-7411

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Nonsmooth Riemannian Optimization with Applications to Sphere Packing and Grasping,thms on a Riemannian manifold are discussed. We illustrate the methods by applications from robotics and multi antenna communication. Gradient descent algorithms for dextrous hand grasping and for sphere packing problems on Grassmann manifolds are presented respectively.

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Interconnection and Damping Assignment Passivity-Based Control of a Four-Tank System, the examples of IDA-PBC found in literature are from the electro-mechanical domain. To show its applicability in other domains, in this work IDA-PBC is used to design a stabilizing controller for a process control example, the four-tank system. Both simulations and real experiments are provided for this example system.

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F. Allgüwer,P. Fleming,Kenji FujimotoRecent results in nonlinear control.Outcome of the 3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (LHMNLC’06), July 19-21, Nagoya, Japan

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