Control of Nonlinear Mechanical Systems

by Marcio de Queiroz (Author), Xiaoyu Cai (Author), Matthew Feemster (Author)
A comprehensive guide to formation control of multi-agent systems using rigid graph theory

The Workshop on Control Mechanics has been held at the University of South­ ern California annually since 1988 under the leadership of late Professor Janislaw M. Skowronski. The primary goal of Professor Skowronski in organizing this series of work­ shops was to promote the use of advanced mechanics method in control theory with a special emphasis on the control of nonlinear mechanical systems subject to uncertainty. This goal has been achieved through a consistent participation of a large number of researchers in the field of control and mechanics and an intensive exchange of their ideas. Professor Skowronski passed away unexpectedly on March 21, 1992, after the conclusion of the Fifth Workshop. The great success of the Fifth Workshop as well as the entire Control Mechanics Workshops over the years is almost exclusively due to his dedication, enthusiasm, and organizational capabilities. His untimely demise is a great loss to us and to the mechanics and control community. The proceedings of the Fifth Workshop presented in this volume are dedicated to Professor Angelo Miele, one of the pioneers and ,a leading contributor in many fields of control theory and its applications.

Authors: Rudra, Shubhobrata, Barai, Ranjit Kumar, Maitra, Madhubanti
Presents a unique work on the application of block backstepping control on underactuated mechanical systems in nonlinear control theory
Describes mathematical derivations using well-known notations and simple algebra, without the need for any special previous background in higher mathematics
Defines the concept with several case studies including benchmarking problems of interdisciplinary domains

The primary emphasis of this book is the modeling, analysis, and control of mechanical systems. The methods and results presented can be applied to a large class of mechanical control systems, including applications in robotics, autonomous vehicle control, and multi-body systems. The book is unique in that it presents a unified, rather than an inclusive, treatment of control theory for mechanical systems. A distinctive feature of the presentation is its reliance on techniques from differential and Riemannian geometry.

The primary emphasis of this book is the modeling, analysis, and control of mechanical systems. The methods and results presented can be applied to a large class of mechanical control systems, including applications in robotics, autonomous vehicle control, and multi-body systems. The book is unique in that it presents a unified, rather than an inclusive, treatment of control theory for mechanical systems. A distinctive feature of the presentation is its reliance on techniques from differential and Riemannian geometry.

The primary emphasis of this book is the modeling, analysis, and control of mechanical systems. The methods and results presented can be applied to a large class of mechanical control systems, including applications in robotics, autonomous vehicle control, and multi-body systems. The book is unique in that it presents a unified, rather than an inclusive, treatment of control theory for mechanical systems. A distinctive feature of the presentation is its reliance on techniques from differential and Riemannian geometry.