Lagrangian and Hamiltonian Methods for Nonlinear Control 2006 ; Proceedings from the 3rd IFAC Workshop, Nagoya, Japan, July 2006
- Author
- F. Allgüwer, P. Fleming, P. Kokotovic, …
- Publication Year
- 2007
- Publisher
- Springer
- Language
- English
- Document Type
- Book
- Faculty / Subject Heading
- Engineering
- Download Book Read book
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.
Keywords: Engineering / Control of Robotic Systems / Geometric Methods / Mechanical Control Systems / Nonlinear system / Optimal control / Algorithms / Control / Control system / Control theory / Nonlinear control / Optimization / Robot / Robotics / System
