Description
Springer Geometric Control of Mechanical Systems Modeling Analysis and Design for Simple Mechanical Control Systems by Francesco Bullo, Andrew D. Lewis
The area of analysis and control of mechanical systems using differential geometry is flourishing. _x000D__x000D__x000D_This book collects many results over the last decade and provides a comprehensive introduction to the area._x000D_ Table of contents :- _x000D_
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._x000D_