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Lagrangian and Hamiltonian Methods For Nonlinear Control 2006

Proceedings from the 3rd IFAC Workshop, Nagoya, Japan, July 2006

  • Conference proceedings
  • © 2007

Overview

Editors:
  1. F. Allgüwer
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  2. P. Fleming
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  3. P. Kokotovic
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  4. A.B. Kurzhanski
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  5. H. Kwakernaak
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  6. A. Rantzer
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  7. J.N. Tsitsiklis
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  8. Francesco Bullo

    1. Mechanical Engineering Department, University of California at Santa Barbara, Santa Barbara, USA

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  9. Kenji Fujimoto

    1. Department of Mechanical Science and Engineering, Nagoya University, Nagoya, Japan

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  • Recent 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

Part of the book series: Lecture Notes in Control and Information Sciences (LNCIS, volume 366)

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Table of contents (31 papers)

  1. Front Matter

    Pages I-XV
    Download chapter PDF

  2. A Differential-Geometric Approach for Bernstein’s Degrees-of-Freedom Problem

    • Suguru Arimoto
    Pages 1-28

  3. Nonsmooth Riemannian Optimization with Applications to Sphere Packing and Grasping

    • Gunther Dirr, Uwe Helmke, Christian Lageman
    Pages 29-45

  4. Synchronization of Networked Lagrangian Systems

    • Mark W. Spong, Nikhil Chopra
    Pages 47-59

  5. An Algorithm to Discretize One-Dimensional Distributed Port Hamiltonian Systems

    • Luca Bassi, Alessandro Macchelli, Claudio Melchiorri
    Pages 61-73

  6. Virtual Lagrangian Construction Method for Infinite-Dimensional Systems with Homotopy Operators

    • Gou Nishida, Masaki Yamakita, Zhiwei Luo
    Pages 75-86

  7. Direct Discrete-Time Design for Sampled-Data Hamiltonian Control Systems

    • Dina Shona Laila, Alessandro Astolfi
    Pages 87-98

  8. Kinematic Compensation in Port-Hamiltonian Telemanipulation

    • Cristian Secchi, Stefano Stramigioli, Cesare Fantuzzi
    Pages 99-110

  9. Interconnection and Damping Assignment Passivity-Based Control of a Four-Tank System

    • Jøgen K. Johnsen, Frank Allöwer
    Pages 111-122

  10. Towards Power-Based Control Strategies for a Class of Nonlinear Mechanical Systems

    • Alessandro de Rinaldis, Jacquelien M.A. Scherpen, Romeo Ortega
    Pages 123-133

  11. Power Shaping Control of Nonlinear Systems: A Benchmark Example

    • Eloísa Garcí-Canseco, Romeo Ortega, Jacquelien M.A. Scherpen, Dimitri Jeltsema
    Pages 135-146

  12. Total Energy Shaping Control of Mechanical Systems: Simplifying the Matching Equations Via Coordinate Changes

    • Giuseppe Viola, Romeo Ortega, Ravi Banavar, José Ángel Acosta, Alessandro Astolfi
    Pages 147-156

  13. Simultaneous Interconnection and Damping Assignment Passivity-Based Control: Two Practical Examples

    • Carles Batlle, Arnau Dòria-Cerezo, Gerardo Espinosa-Pérez, Romeo Ortega
    Pages 157-169

  14. An Internal Model Approach to Implicit Fault Tolerant Control for Port-Hamiltonian Systems

    • Luca Gentili, Andrea Paoli, Claudio Bonivento
    Pages 171-182

  15. On the Geometric Reduction of Controlled Three-Dimensional Bipedal Robotic Walkers

    • Aaron D. Ames, Robert D. Gregg, Eric D.B. Wendel, Shankar Sastry
    Pages 183-196

  16. Gait Generation for a Hopping Robot Via Iterative Learning Control Based on Variational Symmetry

    • Satoshi Satoh, Kenji Fujimoto, Sang-Ho Hyon
    Pages 197-208

  17. On the Interconnection Structures of Irreversible Physical Systems

    • Damien Eberard, Bernhard Maschke, Arjan J. van der Schaft
    Pages 209-220

  18. Rolling Problems on Spaces of Constant Curvature

    • Velimir Jurdjevic, Jason Zimmerman
    Pages 221-231

  19. Dirac Structures and the Legendre Transformation for Implicit Lagrangian and Hamiltonian Systems

    • Hiroaki Yoshimura, Jerrold E. Marsden
    Pages 233-247

  20. Control of a class of 1-generator nonholonomic system with drift through input-dependent coordinate transformation

    • Tsuyoshi Sagami, Mitsuji Sampei, Shigeki Nakaura
    Pages 249-258
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Keywords

Editors and Affiliations

  • Mechanical Engineering Department, University of California at Santa Barbara, Santa Barbara, USA

    Francesco Bullo

  • Department of Mechanical Science and Engineering, Nagoya University, Nagoya, Japan

    Kenji Fujimoto

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