CDC2000 Differential Geometric Control Theory for Mechanical Systems

Differential Geometric Control Theory for Mechanical Systems
Home Full List of Titles 1: Proceedings of CDC2000 Discrete Event Systems Control in Communication Systems Optimal Control and Applications I Optimisation Approaches and Methods Model Predictive Control Advances in Linear Estimation Stochastic and Uncertain Systems Nonlinear Control and Applications Nonlinear Estimation and Filtering Formation Control and its Applications New Approaches to Fuzzy Control Manufacturing Systems Automotive Applications Stability Issues in Hybrid Control Recent Advances in Stochastic Networks Optimal Control and Applications II Robust Controller Design - mu, L1 and H2 Constrained and Receding Horizon Control Identification and Control around the World Markov Decision Processes Nonlinear Optimisation Observers for Nonlinear Systems Motion Planning Neural / Fuzzy Stability and Control Motor Control Control of Quantum Phenomena I Hybrid Systems Methods Control in Communication Networks Robustness and Optimisation Bumpless Transfer, Antiwindup and Saturation Adaptive Control: Linear Systems Estimation and Closed Loop Identification Control of Markov Processes Nonlinear Filtering and Control Modelling, Identification and Validation of Nonlinear Systems Differential Geometric Control Theory for Mechanical Systems Nonlinear Output Feedback Control Pneumatics and Compression Systems Control of Quantum Phenomena II Stability of Hybrid Systems Performance Analysis in Communication Networks Adaptive Control of Nonlinear Systems LMI Methods in Design Robust Control of Time Delay Systems Subspace Identification Methods Nonlinear Stochastic Filtering and Estimation Bifurcations, Chaos and Control I New Progress in Synthesis of Nonlinear Systems I Implementation Issues of Sliding Mode Control Theory Control of Mixing in Shear Flows Novel Neural Network Control Techniques for Industrial Motion Control Systems Physiological Control Systems Optimal Control of Hybrid Systems Stochastic Models for Communication Networks Control and Stabilisation of Nonlinear Systems New Directions in Robust Control Linear Systems Theory Advanced Topics in Systems Theory Estimation in Action Bifurcations, Chaos and Control II New Progress in Synthesis of Nonlinear Systems II Numerical Design and Analysis Techniques for Nonlinear Systems Analysis and Control of Underactuated Systems Sliding Mode Control I Challenges in the Application of Control to Computer Systems Estimation and Diagnosis of Discrete Event Systems Communications and Games Optimal Control Stochastic Systems Model Reduction Methodologies Identification and Subspace Methods Applications of Nonlinear Adaptive Control Advances in Nonlinear Output Feedback Design The Behavioural Approach to Systems and Control Vision Based Estimation and Control: Recent Advances and Open Problems Agile Control of Military Operations Sliding Mode Control II Model-based Fault Diagnosis of Industrial Processes Discrete Event Systems / Petri Nets System Identification and Confidence Estimation New Approaches to H-Infinity Control I Probabilistic Approaches to Robust Control Time Delay System Stabilisation Identification Methods Controlled Stochastic Processes Output Feedback of Nonlinear Systems Topics in Nonlinear Stabilisation Mobile Robots: Tracking Control Robust Control of Nonlinear Systems Power Systems Stabilisation and Control Disk Drive Control Hybrid Control Applications Discrete Time Systems New Approaches to H-Infinity Control II Linear Systems with Saturating Actuators New Theories in Distributed Parameter Systems Applications of Estimation and Identification Stochastic Control and Tuning Methodologies Control of Nonlinear Systems Iterative Learning and Control Coordinating Robot Systems Nonlinear Time Varying Systems Novel Applications of Neural Networks Aerospace Applications Switched Systems Implicit and Descriptor Systems LQG Periodic Systems and Disturbances New Horizons for Distributed Parameter Systems State Estimation Learning and Neuro-Control Nonlinear Control and Stabilisation I Tracking Vision Servoing Controllability of Nonlinear Systems Control of Flexible Systems Electro-Mechanical Systems Robust Control Methods and Applications Fault Detection and Diagnosis Optimisation and Applications Robust Stability Analysis Numerical Methods in Control Filtering in Continuous Time Stochastic Systems Interplay between Control and Signal Processing Fault Detection and Analysis Nonlinear Dynamical Systems Nonlinear Time Delay Systems Computational Issues in Nonlinear Control Disturbance Rejection Process Control Industry Applications Linear Parameter Varying Systems Linear Control Systems Dynamic and Nonlinear Programming Model Reduction Applications New Techniques for Control and Systems: Numerical Linear Algebra Estimation and Identification using Hidden Markov Models Applications of Stochastic Control Topics in Linear Design Nonlinear Control and Stabilisation II Ambulatory Robot Systems Chaotic and Oscillatory Systems Biomedical System Control Integrated Control and CPU Scheduling Linear Design Techniques Adaptive Disturbance / Noise Compensation Nonlinear Model Predictive Control Sensitivity Design, Analysis and Limitations Analysis of Linear Systems Linear Matrix Inequalities in Design Lyapunov's 2nd Method Robotics: Tracking Control Lagrangian and Hamiltonian Theory Variable Structure Control Machine Vision Signal Processing Methods in Control Applied Nonlinear Control Author Index A B C D E F G H I J K L M N O P Q R S T U V W X Y Z	On The Homogeneity Of The Affine Connection Model For Mechanical Control Systems Authors: Francesco Bullo, Andrew D. Lewis, Volume: 1, Page 1260 Paper number 4101 Abstract: This work presents a review of a number of control results for mechanical systems. The key technical advances derive from the homogeneity properties of affine connections models for a large class of mechanical systems. Recent results on nonlinear controllability and on series expansions are presented in a unified fashion. CD004101.PDF (From Author) TOP Averaging Methods for Force-Controlled and Acceleration-Controlled Lagrangian Systems Authors: John Baillieul, Volume: 1, Page 1266 Paper number 4102 Abstract: Recent research has shown that for the class of controlled Lagrangian systems having fewer control inputs than configuration variables, one may blur the distinction between directly controlled states and the corresponding input variables in analyzing the response to oscillatory forcing. Following this approach, stable responses are associated with local minima of an energy-like quantity which we have called the averaged potential. Construction of the averaged potential involves first constructing a reduced Lagrangian to which a Hamiltonian is associated by means of a restricted Legendre transformation. The Hamiltonian is time varying, but by simple averaging one obtains a canonical averaged Hamiltonian from which the averaged potential is immediately determined. It is also possible to an averaging analysis of the full (unreduced) system under high-frequency oscillatory forcing. Under suitable symmetry conditions, the averaged effect of an oscillatory input may also be studied in terms of a certain em averaged potential which in general differs from the one obtained for the reduced system. In the present paper we discuss the differences between these two approaches and the resulting averaged potentials. CD004102.PDF (From Author) TOP An Optimal Control Formulation Of Inviscid Incompressible Ideal Fluid Flow Authors: Anthony M. Bloch, Peter E. Crouch, Darryl D. Holm, Jerrold E. Marsden, Volume: 1, Page 1273 Paper number 4103 Abstract: In this paper we consider the Hamiltonian formulation of the equations of incompressible ideal fluid flow from the point of view of optimal control theory. The equations are compared to the finite symmetric rigid body equations analyzed earlier by the authors. We discuss various aspects of the Hamiltonian structure of the Euler equations and show in particular that the optimal control approach leads to a standard formulation of the Euler equations -- the so-called impulse equations in their Lagrangian form. CD004103.PDF (From Author) TOP Optimal Control of Affine Connection Control Systems: A Variational Approach Authors: J. Alexander Fax, Richard M. Murray, Volume: 1, Page 1279 Paper number 4104 Abstract: In this paper we investigate the optimal control of affine connection control systems. The formalism of the affine connection can be used to describe geometrically the dynamics of mechanical systems, including those with nonholonomic constraints. In the standard variational approach to such problems, one converts an n-dimensional second-order system into a 2n-dimensional first-order system, and uses these equations as constraints on the optimization. An alternative approach, which we develop in this paper, is to include the system dynamics as second-order constraints of the optimization, and optimize relative to variations in the configuration space. Using the affine connection, its associated tensors, and the notion of covariant differentiation, we show how variations in the configuration space induce variations in the tangent space. In this setting, we derive second-order equations have a geometric formulation parallel to that of the system dynamics. They also specialize to results found in the literature. CD004104.PDF (From Author) TOP Relative Equilibria and Stability of Rings of Satellites Authors: Perinkulam S. Krishnaprasad, Volume: 1, Page 1285 Paper number 4105 Abstract: The problem of control of rings of satellites is of current interest driven by applications in telecommunications and space science. The problem of stability of a ring is the subject of this paper. We use methods from geometric approaches to hamiltonian systems to treat this problem. CD004105.PDF (From Author) TOP Matching and Stabilization of Low-Dimensional Nonholonomic Systems Authors: Dmitry V. Zenkov, Anthony M. Bloch, Naomi E. Leonard, Jerrold E. Marsden, Volume: 1, Page 1289 Paper number 4106 Abstract: In this paper we show how a generalized matching technique for stabilization may be applied to the Routhian associated with a low-dimensional nonholonomic system. The theory is illustrated with a simple model--a unicycle with rider. CD004106.PDF (From Author) TOP