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Geometric Control of Mechanical Systems

Modeling, Analysis, and Design for Simple Mechanical Control Systems

  • Francesco Bullo
  • Andrew D. Lewis

Part of the Texts in Applied Mathematics book series (TAM, volume 49)

Table of contents

  1. Front Matter
    Pages i-xxiv
  2. Modeling of mechanical systems

    1. Front Matter
      Pages 1-1
    2. Francesco Bullo, Andrew D. Lewis
      Pages 3-14
    3. Francesco Bullo, Andrew D. Lewis
      Pages 15-48
    4. Francesco Bullo, Andrew D. Lewis
      Pages 49-140
    5. Francesco Bullo, Andrew D. Lewis
      Pages 141-245
    6. Francesco Bullo, Andrew D. Lewis
      Pages 247-310
  3. Analysis of mechanical control systems

    1. Front Matter
      Pages 311-311
    2. Francesco Bullo, Andrew D. Lewis
      Pages 313-366
    3. Francesco Bullo, Andrew D. Lewis
      Pages 367-409
    4. Francesco Bullo, Andrew D. Lewis
      Pages 411-440
    5. Francesco Bullo, Andrew D. Lewis
      Pages 441-477
  4. A sampling of design methodologies

    1. Front Matter
      Pages 479-479
    2. Francesco Bullo, Andrew D. Lewis
      Pages 481-527
    3. Francesco Bullo, Andrew D. Lewis
      Pages 529-558
    4. Francesco Bullo, Andrew D. Lewis
      Pages 559-581
    5. Francesco Bullo, Andrew D. Lewis
      Pages 583-617
  5. Back Matter
    Pages 619-727

About this book

Introduction

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.

Keywords

geometric control mechanics systems theory

Authors and affiliations

  • Francesco Bullo
    • 1
  • Andrew D. Lewis
    • 2
  1. 1.Department of Mechanical & Environmental EngineeringUniversity of California at Santa BarbaraSanta BarbaraUSA
  2. 2.Department of Mathematics and StatisticsQueen’s UniversityKingstonCanada

Bibliographic information

  • DOI https://doi.org/10.1007/978-1-4899-7276-7
  • Copyright Information Springer-Verlag New York 2005
  • Publisher Name Springer, New York, NY
  • eBook Packages Mathematics and Statistics
  • Print ISBN 978-1-4419-1968-7
  • Online ISBN 978-1-4899-7276-7
  • Series Print ISSN 0939-2475
  • Series Online ISSN 2196-9949
  • Buy this book on publisher's site
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