Ebook: Lagrangian and Hamiltonian Methods for Nonlinear Control 2006: Proceedings from the 3rd IFAC Workshop, Nagoya, Japan, July 2006
- Tags: Control Engineering, Systems Theory Control
- Series: Lecture Notes in Control and Information Sciences 366
- Year: 2007
- Publisher: Springer-Verlag Berlin Heidelberg
- Edition: 1
- Language: English
- pdf
From the contents
A Differential-Geometric Approach for Bernstein’s Degrees-of-Freedom Problem.- Nonsmooth Riemannian Optimization with Applications to Sphere Packing and Grasping.- Synchronization of Networked Lagrangian Systems.- An Algorithm to Discretize One-Dimensional Distributed Port Hamiltonian Systems.- Virtual Lagrangian Construction Method for Infinitedimensional Systems with Homotopy Operators.- Direct Discrete-Time Design for Sampled-Data Hamiltonian Control Systems.- Kinematic Compensation in Port-Hamiltonian Telemanipulation.- Interconnection and Damping Assignment Passivity-Based Control of a Four-Tank System.- Towards Power-based Control Strategies for a Class of Nonlinear Mechanical Systems.- Power Shaping Control of Nonlinear Systems: A Benchmark Example.- Total Energy Shaping Control of Mechanical Systems: Simplifying the Matching Equations via Coordinate Changes.- Simultaneous Interconnection and Damping Assignment Passivity–Based Control: Two Practical Examples.
From the contents
A Differential-Geometric Approach for Bernstein’s Degrees-of-Freedom Problem.- Nonsmooth Riemannian Optimization with Applications to Sphere Packing and Grasping.- Synchronization of Networked Lagrangian Systems.- An Algorithm to Discretize One-Dimensional Distributed Port Hamiltonian Systems.- Virtual Lagrangian Construction Method for Infinitedimensional Systems with Homotopy Operators.- Direct Discrete-Time Design for Sampled-Data Hamiltonian Control Systems.- Kinematic Compensation in Port-Hamiltonian Telemanipulation.- Interconnection and Damping Assignment Passivity-Based Control of a Four-Tank System.- Towards Power-based Control Strategies for a Class of Nonlinear Mechanical Systems.- Power Shaping Control of Nonlinear Systems: A Benchmark Example.- Total Energy Shaping Control of Mechanical Systems: Simplifying the Matching Equations via Coordinate Changes.- Simultaneous Interconnection and Damping Assignment Passivity–Based Control: Two Practical Examples.
Content:
Front Matter....Pages I-XV
A Differential-Geometric Approach for Bernstein’s Degrees-of-Freedom Problem....Pages 1-28
Nonsmooth Riemannian Optimization with Applications to Sphere Packing and Grasping....Pages 29-45
Synchronization of Networked Lagrangian Systems....Pages 47-59
An Algorithm to Discretize One-Dimensional Distributed Port Hamiltonian Systems....Pages 61-73
Virtual Lagrangian Construction Method for Infinite-Dimensional Systems with Homotopy Operators....Pages 75-86
Direct Discrete-Time Design for Sampled-Data Hamiltonian Control Systems....Pages 87-98
Kinematic Compensation in Port-Hamiltonian Telemanipulation....Pages 99-110
Interconnection and Damping Assignment Passivity-Based Control of a Four-Tank System....Pages 111-122
Towards Power-Based Control Strategies for a Class of Nonlinear Mechanical Systems....Pages 123-133
Power Shaping Control of Nonlinear Systems: A Benchmark Example....Pages 135-146
Total Energy Shaping Control of Mechanical Systems: Simplifying the Matching Equations Via Coordinate Changes....Pages 147-156
Simultaneous Interconnection and Damping Assignment Passivity-Based Control: Two Practical Examples....Pages 157-169
An Internal Model Approach to Implicit Fault Tolerant Control for Port-Hamiltonian Systems....Pages 171-182
On the Geometric Reduction of Controlled Three-Dimensional Bipedal Robotic Walkers....Pages 183-196
Gait Generation for a Hopping Robot Via Iterative Learning Control Based on Variational Symmetry....Pages 197-208
On the Interconnection Structures of Irreversible Physical Systems....Pages 209-220
Rolling Problems on Spaces of Constant Curvature....Pages 221-231
Dirac Structures and the Legendre Transformation for Implicit Lagrangian and Hamiltonian Systems....Pages 233-247
Control of a class of 1-generator nonholonomic system with drift through input-dependent coordinate transformation....Pages 249-258
Principal Subspace Flows Via Mechanical Systems on Grassmann Manifolds....Pages 259-267
Approximation of Generalized Minimizers and Regularization of Optimal Control Problems....Pages 269-279
Minimum Time Optimality of a Partially Singular Arc: Second Order Conditions....Pages 281-291
Hamiltonian Engineering for Quantum Systems....Pages 293-304
Stability Analysis of 2-D Object Grasping by a Pair of Robot Fingers with Soft and Hemispherical Ends....Pages 305-316
Intrinsic Control Designs for Abstract Machines....Pages 317-328
Shape Control of a Multi-agent System Using Tensegrity Structures....Pages 329-339
A Family of Pumping-Damping Smooth Strategies for Swinging Up a Pendulum....Pages 341-352
An Energy-Shaping Approach with Direct Mechanical Damping Injection to Design of Control for Power Systems....Pages 353-364
Remarks on Quadratic Hamiltonians in Spaceflight Mechanics....Pages 365-373
Controlling a Submerged Rigid Body: A Geometric Analysis....Pages 375-385
Explicit Structured Singular Value Analysis of Manipulators with Passivity Based Control....Pages 387-396
Back Matter....Pages 397-398
From the contents
A Differential-Geometric Approach for Bernstein’s Degrees-of-Freedom Problem.- Nonsmooth Riemannian Optimization with Applications to Sphere Packing and Grasping.- Synchronization of Networked Lagrangian Systems.- An Algorithm to Discretize One-Dimensional Distributed Port Hamiltonian Systems.- Virtual Lagrangian Construction Method for Infinitedimensional Systems with Homotopy Operators.- Direct Discrete-Time Design for Sampled-Data Hamiltonian Control Systems.- Kinematic Compensation in Port-Hamiltonian Telemanipulation.- Interconnection and Damping Assignment Passivity-Based Control of a Four-Tank System.- Towards Power-based Control Strategies for a Class of Nonlinear Mechanical Systems.- Power Shaping Control of Nonlinear Systems: A Benchmark Example.- Total Energy Shaping Control of Mechanical Systems: Simplifying the Matching Equations via Coordinate Changes.- Simultaneous Interconnection and Damping Assignment Passivity–Based Control: Two Practical Examples.
Content:
Front Matter....Pages I-XV
A Differential-Geometric Approach for Bernstein’s Degrees-of-Freedom Problem....Pages 1-28
Nonsmooth Riemannian Optimization with Applications to Sphere Packing and Grasping....Pages 29-45
Synchronization of Networked Lagrangian Systems....Pages 47-59
An Algorithm to Discretize One-Dimensional Distributed Port Hamiltonian Systems....Pages 61-73
Virtual Lagrangian Construction Method for Infinite-Dimensional Systems with Homotopy Operators....Pages 75-86
Direct Discrete-Time Design for Sampled-Data Hamiltonian Control Systems....Pages 87-98
Kinematic Compensation in Port-Hamiltonian Telemanipulation....Pages 99-110
Interconnection and Damping Assignment Passivity-Based Control of a Four-Tank System....Pages 111-122
Towards Power-Based Control Strategies for a Class of Nonlinear Mechanical Systems....Pages 123-133
Power Shaping Control of Nonlinear Systems: A Benchmark Example....Pages 135-146
Total Energy Shaping Control of Mechanical Systems: Simplifying the Matching Equations Via Coordinate Changes....Pages 147-156
Simultaneous Interconnection and Damping Assignment Passivity-Based Control: Two Practical Examples....Pages 157-169
An Internal Model Approach to Implicit Fault Tolerant Control for Port-Hamiltonian Systems....Pages 171-182
On the Geometric Reduction of Controlled Three-Dimensional Bipedal Robotic Walkers....Pages 183-196
Gait Generation for a Hopping Robot Via Iterative Learning Control Based on Variational Symmetry....Pages 197-208
On the Interconnection Structures of Irreversible Physical Systems....Pages 209-220
Rolling Problems on Spaces of Constant Curvature....Pages 221-231
Dirac Structures and the Legendre Transformation for Implicit Lagrangian and Hamiltonian Systems....Pages 233-247
Control of a class of 1-generator nonholonomic system with drift through input-dependent coordinate transformation....Pages 249-258
Principal Subspace Flows Via Mechanical Systems on Grassmann Manifolds....Pages 259-267
Approximation of Generalized Minimizers and Regularization of Optimal Control Problems....Pages 269-279
Minimum Time Optimality of a Partially Singular Arc: Second Order Conditions....Pages 281-291
Hamiltonian Engineering for Quantum Systems....Pages 293-304
Stability Analysis of 2-D Object Grasping by a Pair of Robot Fingers with Soft and Hemispherical Ends....Pages 305-316
Intrinsic Control Designs for Abstract Machines....Pages 317-328
Shape Control of a Multi-agent System Using Tensegrity Structures....Pages 329-339
A Family of Pumping-Damping Smooth Strategies for Swinging Up a Pendulum....Pages 341-352
An Energy-Shaping Approach with Direct Mechanical Damping Injection to Design of Control for Power Systems....Pages 353-364
Remarks on Quadratic Hamiltonians in Spaceflight Mechanics....Pages 365-373
Controlling a Submerged Rigid Body: A Geometric Analysis....Pages 375-385
Explicit Structured Singular Value Analysis of Manipulators with Passivity Based Control....Pages 387-396
Back Matter....Pages 397-398
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