Geometric Control of Mechanical Systems PDF Download
Are you looking for read ebook online? Search for your book and save it on your Kindle device, PC, phones or tablets. Download Geometric Control of Mechanical Systems PDF full book. Access full book title Geometric Control of Mechanical Systems by Francesco Bullo. Download full books in PDF and EPUB format.
Author: Francesco Bullo
Publisher: Springer Science & Business Media
ISBN: 9780387221953
Category : Science
Languages : en
Pages : 756
Get Book Here
Book Description
The area of analysis and control of mechanical systems using differential geometry is flourishing. This book collects many results over the last decade and provides a comprehensive introduction to the area.
Author: Francesco Bullo
Publisher: Springer Science & Business Media
ISBN: 9780387221953
Category : Science
Languages : en
Pages : 756
Get Book Here
Book Description
The area of analysis and control of mechanical systems using differential geometry is flourishing. This book collects many results over the last decade and provides a comprehensive introduction to the area.
Author: Andrei A. Agrachev
Publisher: Springer Science & Business Media
ISBN: 9783540210191
Category : Language Arts & Disciplines
Languages : en
Pages : 440
Get Book Here
Book Description
This book presents some facts and methods of Mathematical Control Theory treated from the geometric viewpoint. It is devoted to finite-dimensional deterministic control systems governed by smooth ordinary differential equations. The problems of controllability, state and feedback equivalence, and optimal control are studied. Some of the topics treated by the authors are covered in monographic or textbook literature for the first time while others are presented in a more general and flexible setting than elsewhere. Although being fundamentally written for mathematicians, the authors make an attempt to reach both the practitioner and the theoretician by blending the theory with applications. They maintain a good balance between the mathematical integrity of the text and the conceptual simplicity that might be required by engineers. It can be used as a text for graduate courses and will become most valuable as a reference work for graduate students and researchers.
Author: A.M. Bloch
Publisher: Springer Science & Business Media
ISBN: 0387955356
Category : Mathematics
Languages : en
Pages : 501
Get Book Here
Book Description
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.
Author: Velimir Jurdjevic
Publisher: Cambridge University Press
ISBN: 0521495024
Category : Mathematics
Languages : en
Pages : 516
Get Book Here
Book Description
Geometric control theory is concerned with the evolution of systems subject to physical laws but having some degree of freedom through which motion is to be controlled. This book describes the mathematical theory inspired by the irreversible nature of time evolving events. The first part of the book deals with the issue of being able to steer the system from any point of departure to any desired destination. The second part deals with optimal control, the question of finding the best possible course. An overlap with mathematical physics is demonstrated by the Maximum principle, a fundamental principle of optimality arising from geometric control, which is applied to time-evolving systems governed by physics as well as to man-made systems governed by controls. Applications are drawn from geometry, mechanics, and control of dynamical systems. The geometric language in which the results are expressed allows clear visual interpretations and makes the book accessible to physicists and engineers as well as to mathematicians.
Author: Jerrold E. Marsden
Publisher: Cambridge University Press
ISBN: 9780521428446
Category : Mathematics
Languages : en
Pages : 272
Get Book Here
Book Description
Based on the 1991 LMS Invited Lectures given by Professor Marsden, this book discusses and applies symmetry methods to such areas as bifurcations and chaos in mechanical systems.
Author: A.M. Bloch
Publisher: Springer
ISBN: 1493930176
Category : Science
Languages : en
Pages : 582
Get Book Here
Book Description
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.
Author: Jerrold E. Marsden
Publisher: Springer Science & Business Media
ISBN: 0387217924
Category : Science
Languages : en
Pages : 593
Get Book Here
Book Description
A development of the basic theory and applications of mechanics with an emphasis on the role of symmetry. The book includes numerous specific applications, making it beneficial to physicists and engineers. Specific examples and applications show how the theory works, backed by up-to-date techniques, all of which make the text accessible to a wide variety of readers, especially senior undergraduates and graduates in mathematics, physics and engineering. This second edition has been rewritten and updated for clarity throughout, with a major revamping and expansion of the exercises. Internet supplements containing additional material are also available.
Author: J. Michael McCarthy
Publisher: Springer Science & Business Media
ISBN: 1441978925
Category : Science
Languages : en
Pages : 466
Get Book Here
Book Description
This book is an introduction to the mathematical theory of design for articulated mechanical systems known as linkages. The focus is on sizing mechanical constraints that guide the movement of a work piece, or end-effector, of the system. The function of the device is prescribed as a set of positions to be reachable by the end-effector; and the mechanical constraints are formed by joints that limit relative movement. The goal is to find all the devices that can achieve a specific task. Formulated in this way the design problem is purely geometric in character. Robot manipulators, walking machines, and mechanical hands are examples of articulated mechanical systems that rely on simple mechanical constraints to provide a complex workspace for the end- effector. The principles presented in this book form the foundation for a design theory for these devices. The emphasis, however, is on articulated systems with fewer degrees of freedom than that of the typical robotic system, and therefore, less complexity. This book will be useful to mathematics, engineering and computer science departments teaching courses on mathematical modeling of robotics and other articulated mechanical systems. This new edition includes research results of the past decade on the synthesis of multi loop planar and spherical linkages, and the use of homotopy methods and Clifford algebras in the synthesis of spatial serial chains. One new chapter on the synthesis of spatial serial chains introduces numerical homotopy and the linear product decomposition of polynomial systems. The second new chapter introduces the Clifford algebra formulation of the kinematics equations of serial chain robots. Examples are use throughout to demonstrate the theory.
Author: Henk Nijmeijer
Publisher: Springer Science & Business Media
ISBN: 1475721013
Category : Technology & Engineering
Languages : en
Pages : 427
Get Book Here
Book Description
This volume deals with controllability and observability properties of nonlinear systems, as well as various ways to obtain input-output representations. The emphasis is on fundamental notions as (controlled) invariant distributions and submanifolds, together with algorithms to compute the required feedbacks.
Author: Piernicola Bettiol
Publisher: Springer
ISBN: 3319069179
Category : Mathematics
Languages : en
Pages : 242
Get Book Here
Book Description
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.
