Bullo / Fujimoto - Lagrangian and Hamiltonian Methods For Nonlinear Control 2006

Lagrangian and Hamiltonian Methods For Nonlinear Control 2006

Proceedings from the 3rd IFAC Workshop, Nagoya, Japan, July 2006

Medium: Buch

ISBN: 978-3-540-73889-3

Verlag: Springer

Erscheinungstermin: 28.08.2007

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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 Infinite-Dimensional 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.- An Internal Model Approach to Implicit Fault Tolerant Control for Port-Hamiltonian Systems.- On the Geometric Reduction of Controlled Three-Dimensional Bipedal Robotic Walkers.- Gait Generation for a Hopping Robot Via Iterative Learning Control Based on Variational Symmetry.- On the Interconnection Structures of Irreversible Physical Systems.- Rolling Problems on Spaces of Constant Curvature.- Dirac Structures and the Legendre Transformation for Implicit Lagrangian and Hamiltonian Systems.- Control of a class of 1-generator nonholonomic system with drift through input-dependent coordinate transformation.- Principal Subspace Flows Via Mechanical Systems on Grassmann Manifolds.- Approximation of Generalized Minimizers and Regularization of Optimal Control Problems.- Minimum Time Optimality of a PartiallySingular Arc: Second Order Conditions.- Hamiltonian Engineering for Quantum Systems.- Stability Analysis of 2-D Object Grasping by a Pair of Robot Fingers with Soft and Hemispherical Ends.- Intrinsic Control Designs for Abstract Machines.- Shape Control of a Multi-agent System Using Tensegrity Structures.- A Family of Pumping-Damping Smooth Strategies for Swinging Up a Pendulum.- An Energy-Shaping Approach with Direct Mechanical Damping Injection to Design of Control for Power Systems.- Remarks on Quadratic Hamiltonians in Spaceflight Mechanics.- Controlling a Submerged Rigid Body: A Geometric Analysis.- Explicit Structured Singular Value Analysis of Manipulators with Passivity Based Control.