Control Of Nonholonomic Systems From Sub Riemannian Geometry To Motion Planning
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Control Of Nonholonomic Systems From Sub Riemannian Geometry To Motion Planning
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Author : Frédéric Jean
language : en
Publisher: Springer
Release Date : 2014-07-17
Control Of Nonholonomic Systems From Sub Riemannian Geometry To Motion Planning written by Frédéric Jean and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-07-17 with Science categories.
Nonholonomic systems are control systems which depend linearly on the control. Their underlying geometry is the sub-Riemannian geometry, which plays for these systems the same role as Euclidean geometry does for linear systems. In particular the usual notions of approximations at the first order, that are essential for control purposes, have to be defined in terms of this geometry. The aim of these notes is to present these notions of approximation and their application to the motion planning problem for nonholonomic systems.
Topological Obstructions To Stability And Stabilization
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Author : Wouter Jongeneel
language : en
Publisher: Springer Nature
Release Date : 2023-05-16
Topological Obstructions To Stability And Stabilization written by Wouter Jongeneel and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2023-05-16 with Technology & Engineering categories.
This open access book provides a unified overview of topological obstructions to the stability and stabilization of dynamical systems defined on manifolds and an overview that is self-contained and accessible to the control-oriented graduate student. The authors review the interplay between the topology of an attractor, its domain of attraction, and the underlying manifold that is supposed to contain these sets. They present some proofs of known results in order to highlight assumptions and to develop extensions, and they provide new results showcasing the most effective methods to cope with these obstructions to stability and stabilization. Moreover, the book shows how Borsuk’s retraction theory and the index-theoretic methodology of Krasnosel’skii and Zabreiko underlie a large fraction of currently known results. This point of view reveals important open problems, and for that reason, this book is of interest to any researcher in control, dynamical systems, topology, or related fields.
Geometric And Numerical Optimal Control
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Author : Bernard Bonnard
language : en
Publisher: Springer
Release Date : 2018-07-27
Geometric And Numerical Optimal Control written by Bernard Bonnard and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-07-27 with Mathematics categories.
This book introduces readers to techniques of geometric optimal control as well as the exposure and applicability of adapted numerical schemes. It is based on two real-world applications, which have been the subject of two current academic research programs and motivated by industrial use – the design of micro-swimmers and the contrast problem in medical resonance imaging. The recently developed numerical software has been applied to the cases studies presented here. The book is intended for use at the graduate and Ph.D. level to introduce students from applied mathematics and control engineering to geometric and computational techniques in optimal control.
Control In Finite And Infinite Dimension
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Author : Emmanuel Trélat
language : en
Publisher: Springer Nature
Release Date : 2024-09-05
Control In Finite And Infinite Dimension written by Emmanuel Trélat and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-09-05 with Science categories.
This book is the result of various master and summer school courses the author has taught. The objective is to provide the reader with an introduction to control theory and to the main tools allowing to treat general control systems. The author hopes this book will serve as motivation to go deeper into the theory or numerical aspects that are not covered in this book. This book might be helpful for graduate students and researchers in the field of control theory.
Variational Methods
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Author : Maïtine Bergounioux
language : en
Publisher: Walter de Gruyter GmbH & Co KG
Release Date : 2017-01-11
Variational Methods written by Maïtine Bergounioux and has been published by Walter de Gruyter GmbH & Co KG this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-01-11 with Mathematics categories.
With a focus on the interplay between mathematics and applications of imaging, the first part covers topics from optimization, inverse problems and shape spaces to computer vision and computational anatomy. The second part is geared towards geometric control and related topics, including Riemannian geometry, celestial mechanics and quantum control. Contents: Part I Second-order decomposition model for image processing: numerical experimentation Optimizing spatial and tonal data for PDE-based inpainting Image registration using phase・amplitude separation Rotation invariance in exemplar-based image inpainting Convective regularization for optical flow A variational method for quantitative photoacoustic tomography with piecewise constant coefficients On optical flow models for variational motion estimation Bilevel approaches for learning of variational imaging models Part II Non-degenerate forms of the generalized Euler・Lagrange condition for state-constrained optimal control problems The Purcell three-link swimmer: some geometric and numerical aspects related to periodic optimal controls Controllability of Keplerian motion with low-thrust control systems Higher variational equation techniques for the integrability of homogeneous potentials Introduction to KAM theory with a view to celestial mechanics Invariants of contact sub-pseudo-Riemannian structures and Einstein・Weyl geometry Time-optimal control for a perturbed Brockett integrator Twist maps and Arnold diffusion for diffeomorphisms A Hamiltonian approach to sufficiency in optimal control with minimal regularity conditions: Part I Index
Tunneling Estimates And Approximate Controllability For Hypoelliptic Equations
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Author : Camille Laurent
language : en
Publisher: American Mathematical Society
Release Date : 2022-04-08
Tunneling Estimates And Approximate Controllability For Hypoelliptic Equations written by Camille Laurent and has been published by American Mathematical Society this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-04-08 with Mathematics categories.
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Contemporary Research In Elliptic Pdes And Related Topics
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Author : Serena Dipierro
language : en
Publisher: Springer
Release Date : 2019-07-12
Contemporary Research In Elliptic Pdes And Related Topics written by Serena Dipierro and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-07-12 with Mathematics categories.
This volume collects contributions from the speakers at an INdAM Intensive period held at the University of Bari in 2017. The contributions cover several aspects of partial differential equations whose development in recent years has experienced major breakthroughs in terms of both theory and applications. The topics covered include nonlocal equations, elliptic equations and systems, fully nonlinear equations, nonlinear parabolic equations, overdetermined boundary value problems, maximum principles, geometric analysis, control theory, mean field games, and bio-mathematics. The authors are trailblazers in these topics and present their work in a way that is exhaustive and clearly accessible to PhD students and early career researcher. As such, the book offers an excellent introduction to a variety of fundamental topics of contemporary investigation and inspires novel and high-quality research.
Robotics Goes Mooc
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Author : Bruno Siciliano
language : en
Publisher: Springer Nature
Release Date : 2025-02-04
Robotics Goes Mooc written by Bruno Siciliano and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2025-02-04 with Technology & Engineering categories.
A robot’s appearance and its way of interacting with humans is of fundamental importance. Until a few years ago there was a clear asymmetry between the typically excellent performance of industrial robots and their ugly and disharmonious bodies, with crude ways and potentially very dangerous movements for the human environment. A modern artifact can be as harmonious and beautiful as a complex biological machine or a work of plastic art and thus it should be clear how design plays a key role for robot technology to become a part of our everyday life and change it essentially in a responsible and beneficial manner. It is designers who shape the interface between humans and machines and, as such, they will contribute to make robots as customizable and intuitively useful to inexperienced users according to a plug-and-play mode. The new concept of robotronics as the mechatronics approach to designing advanced robots is the focus of the first chapter of the second book of the Robotics Goes MOOC project by Asfour et al. The main issues for robot manipulator design are covered in the subsequent material, namely redundant robots in Chapter 2 by Maciejewsky et al and parallel robots in Chapter 3 by Müller, where widely adopted kinematic solutions are presented. Then, the adoption to flexibilty, as opposed to the rigid mechanics paradigm, is discussed in Chapter 4 by Bertram et al with reference to elastic robots and in Chapter 5 by Laschi focused on soft robotics. Somewhat speculating on the previous two design solutions comes Chapter 6 by Cutkosky dealing with bioinspired robots. The last part of the book is devoted to robot locomotion, namely, Chapter 7 by Vendittelli on wheeled robots and Chapter 8 by Harada on (biped) humanoids.
Geometric Control And Numerical Aspects Of Nonholonomic Systems
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Author : Jorge Cortés Monforte
language : en
Publisher: Springer
Release Date : 2004-10-19
Geometric Control And Numerical Aspects Of Nonholonomic Systems written by Jorge Cortés Monforte and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2004-10-19 with Mathematics categories.
Nonholonomic systems are a widespread topic in several scientific and commercial domains, including robotics, locomotion and space exploration. This work sheds new light on this interdisciplinary character through the investigation of a variety of aspects coming from several disciplines. The main aim is to illustrate the idea that a better understanding of the geometric structures of mechanical systems unveils new and unknown aspects to them, and helps both analysis and design to solve standing problems and identify new challenges. In this way, separate areas of research such as Classical Mechanics, Differential Geometry, Numerical Analysis or Control Theory are brought together in this study of nonholonomic systems.
Romansy 13
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Author : Adam Morecki
language : en
Publisher: Springer
Release Date : 2014-05-04
Romansy 13 written by Adam Morecki and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-05-04 with Science categories.
Characterisation: this volume presents the latest contribution to the theory and practice of modern robotics given by the world recognised scientists from Australia, Canada, Europe, Japan and USA.