Geometric control mechanical systems pdf

Engineering, Computer Science. Nonholonomic mechanical systems with symmetry. This work develops the geometry and dynamics of mechanical systems with nonholonomic constraints and symmetry from the perspective of Lagrangian mechanics and with a view to control-theoretical … Expand. Geometric control and differential flatness of a quadrotor UAV with a cable-suspended load. In this paper a position tracking controller for a multiroto r helicopter is presented.

The controller design exploits the fact that for position tracking, the control of the whole attitude is not … Expand. Geometric phases and robotic locomotion. Field Robotics. This paper presents nonlinear tracking control systems for a quadrotor unmanned aerial vehicle under the influence of uncertainties.

One distinguishing feature of mechanical systems is the number of control forces. For systems with as many input forces as degrees of freedom, many control problems are tractable. One contribution of this thesis is a set of trajectory tracking controllers designed via the notions of configuration and velocity error. Skip to search form Skip to main content Skip to account menu You are currently offline.

Some features of the site may not work correctly. Bullo , A. Lewis Published Mathematics Part I: Modeling of mechanical systems Introductory examples and problems Linear and multilinear algebra Differential geometry Simple mechanical control systems Lie groups, systems on groups, and symmetries. Save to Library Save. Create Alert Alert. Share This Paper. Background Citations. Methods Citations. Results Citations. Citation Type. Has PDF. Publication Type. More Filters. Rational Mech. Anal , , — Bloch, P.

Krishnaprasad, J. Marsden, and T. Ratiu, Dissipation induced instabilities, Ann. Control Optim. VII C. Martin and R. Hermann, eds. Dubrovin, A. Fomenko, and S. Control , AC 35 9 , —, Fliess, J. Martin, and P. Control , Haynes and H. Hermes and G.