On Geometric Control Design For Holonomic And Nonholonomic Mechanical Systems
DOWNLOAD
Download On Geometric Control Design For Holonomic And Nonholonomic Mechanical Systems PDF/ePub or read online books in Mobi eBooks. Click Download or Read Online button to get On Geometric Control Design For Holonomic And Nonholonomic Mechanical Systems book now. This website allows unlimited access to, at the time of writing, more than 1.5 million titles, including hundreds of thousands of titles in various foreign languages. If the content not found or just blank you must refresh this page
On Geometric Control Design For Holonomic And Nonholonomic Mechanical Systems
DOWNLOAD
Author :
language : en
Publisher:
Release Date : 2004
On Geometric Control Design For Holonomic And Nonholonomic Mechanical Systems written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2004 with categories.
On Geometric Control Design For Holonomic And Nonholonomic Mechanical Systems
DOWNLOAD
Author : Jason M. Osborne
language : en
Publisher:
Release Date : 2007
On Geometric Control Design For Holonomic And Nonholonomic Mechanical Systems written by Jason M. Osborne and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2007 with categories.
An overarching and unifying theme for this document is that viewing mechanical systems through a geometric lens opens up an extensive set of tools that can be brought to bear upon energy, mass, and system---conscious control design for constrained mechanical systems. To demonstrate this thesis we consider the dynamics and control for several mechanical systems.
Geometric Control Of Mechanical Systems
DOWNLOAD
Author : Francesco Bullo
language : en
Publisher: Springer
Release Date : 2019-06-12
Geometric Control Of Mechanical Systems written by Francesco Bullo and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-06-12 with Science categories.
The primary emphasis of this book is the modeling, analysis, and control of mechanical systems. The methods and results presented can be applied to a large class of mechanical control systems, including applications in robotics, autonomous vehicle control, and multi-body systems. The book is unique in that it presents a unified, rather than an inclusive, treatment of control theory for mechanical systems. A distinctive feature of the presentation is its reliance on techniques from differential and Riemannian geometry. The book contains extensive examples and exercises, and will be suitable for a growing number of courses in this area. It begins with the detailed mathematical background, proceeding through innovative approaches to physical modeling, analysis, and design techniques. Numerous examples illustrate the proposed methods and results, while the many exercises test basic knowledge and introduce topics not covered in the main body of the text. The audience of this book consists of two groups. The first group is comprised of graduate students in engineering or mathematical sciences who wish to learn the basics of geometric mechanics, nonlinear control theory, and control theory for mechanical systems. Readers will be able to immediately begin exploring the research literature on these subjects. The second group consists of researchers in mechanics and control theory. Nonlinear control theoreticians will find explicit links between concepts in geometric mechanics and nonlinear control theory. Researchers in mechanics will find an overview of topics in control theory that have relevance to mechanics.
Geometric Control And Numerical Aspects Of Nonholonomic Systems
DOWNLOAD
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.
Analysis And Geometry In Control Theory And Its Applications
DOWNLOAD
Author : Piernicola Bettiol
language : en
Publisher: Springer
Release Date : 2015-09-01
Analysis And Geometry In Control Theory And Its Applications written by Piernicola Bettiol and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-09-01 with Mathematics categories.
Since the 1950s control theory has established itself as a major mathematical discipline, particularly suitable for application in a number of research fields, including advanced engineering design, economics and the medical sciences. However, since its emergence, there has been a need to rethink and extend fields such as calculus of variations, differential geometry and nonsmooth analysis, which are closely tied to research on applications. Today control theory is a rich source of basic abstract problems arising from applications, and provides an important frame of reference for investigating purely mathematical issues. In many fields of mathematics, the huge and growing scope of activity has been accompanied by fragmentation into a multitude of narrow specialties. However, outstanding advances are often the result of the quest for unifying themes and a synthesis of different approaches. Control theory and its applications are no exception. Here, the interaction between analysis and geometry has played a crucial role in the evolution of the field. This book collects some recent results, highlighting geometrical and analytical aspects and the possible connections between them. Applications provide the background, in the classical spirit of mutual interplay between abstract theory and problem-solving practice.
Geometric Control Theory And Sub Riemannian Geometry
DOWNLOAD
Author : Gianna Stefani
language : en
Publisher: Springer
Release Date : 2014-06-05
Geometric Control Theory And Sub Riemannian Geometry written by Gianna Stefani and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-06-05 with Mathematics categories.
Honoring Andrei Agrachev's 60th birthday, this volume presents recent advances in the interaction between Geometric Control Theory and sub-Riemannian geometry. On the one hand, Geometric Control Theory used the differential geometric and Lie algebraic language for studying controllability, motion planning, stabilizability and optimality for control systems. The geometric approach turned out to be fruitful in applications to robotics, vision modeling, mathematical physics etc. On the other hand, Riemannian geometry and its generalizations, such as sub-Riemannian, Finslerian geometry etc., have been actively adopting methods developed in the scope of geometric control. Application of these methods has led to important results regarding geometry of sub-Riemannian spaces, regularity of sub-Riemannian distances, properties of the group of diffeomorphisms of sub-Riemannian manifolds, local geometry and equivalence of distributions and sub-Riemannian structures, regularity of the Hausdorff volume, etc.
Dynamical Systems And Geometric Mechanics
DOWNLOAD
Author : Jared Maruskin
language : en
Publisher: Walter de Gruyter GmbH & Co KG
Release Date : 2018-08-21
Dynamical Systems And Geometric Mechanics written by Jared Maruskin 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 2018-08-21 with Science categories.
Introduction to Dynamical Systems and Geometric Mechanics provides a comprehensive tour of two fields that are intimately entwined: dynamical systems is the study of the behavior of physical systems that may be described by a set of nonlinear first-order ordinary differential equations in Euclidean space, whereas geometric mechanics explore similar systems that instead evolve on differentiable manifolds. The first part discusses the linearization and stability of trajectories and fixed points, invariant manifold theory, periodic orbits, Poincaré maps, Floquet theory, the Poincaré-Bendixson theorem, bifurcations, and chaos. The second part of the book begins with a self-contained chapter on differential geometry that introduces notions of manifolds, mappings, vector fields, the Jacobi-Lie bracket, and differential forms.
Modelling And Control Of Mechanisms And Robots
DOWNLOAD
Author : Antonio Tornambe
language : en
Publisher: World Scientific
Release Date : 1996-05-30
Modelling And Control Of Mechanisms And Robots written by Antonio Tornambe and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 1996-05-30 with categories.
This volume provides doctorate students and professionals with basic and advanced material on modelling and control of complex mechanical systems, with particular emphasis on robotic manipulators.
Nonholonomic Mechanics And Control
DOWNLOAD
Author : A.M. Bloch
language : en
Publisher: Springer
Release Date : 2015-11-05
Nonholonomic Mechanics And Control written by A.M. Bloch and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-11-05 with Science categories.
This book explores connections between control theory and geometric mechanics. The author links control theory with a geometric view of classical mechanics in both its Lagrangian and Hamiltonian formulations, and in particular with the theory of mechanical systems subject to motion constraints. The synthesis is appropriate as there is a rich connection between mechanics and nonlinear control theory. The book provides a unified treatment of nonlinear control theory and constrained mechanical systems that incorporates material not available in other recent texts. The book benefits graduate students and researchers in the area who want to enhance their understanding and enhance their techniques.
Introduction To Lagrangian Dynamics
DOWNLOAD
Author : Aron Wolf Pila
language : en
Publisher: Springer
Release Date : 2019-08-02
Introduction To Lagrangian Dynamics written by Aron Wolf Pila and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-08-02 with Technology & Engineering categories.
This volume provides a short summary of the essentials of Lagrangian dynamics for practicing engineers and students of physics and engineering. It examines a range of phenomena and techniques in a style that is compact and succinct, while remaining comprehensive. The book provides a review of classical mechanics and coverage of critical topics including holonomic and non-holonomic systems, virtual work, the principle of d’Alembert for dynamical systems, the mathematics of conservative forces, the extended Hamilton’s principle, Lagrange’s equations and Lagrangian dynamics, a systematic procedure for generalized forces, quasi-coordinates, and quasi-velocities, Lagrangian dynamics with quasi-coordinates, Professor Ranjan Vepa’s approach and the Hamiltonian formulation. Adopting a step-by-step approach with examples throughout the book, this ready reference completely develops all of the relevant equations and is ideal for practicing mechanical, aeronautical, and civil engineers, physicists, and graduate/upper-level undergraduate students. Explains in detail the development of the theory behind Lagrangian dynamics in a practical fashion; Discusses virtual work, generalized forces, conservative forces, constraints, Extended Hamilton’s Principle and the Hamiltonian formulation; Presents two different approaches to the quasi-velocity method for non-holonomic constraints; Reinforces concepts presented with illustrative examples; Includes comprehensive coverage of the important topics of classical mechanics.