Lagrangian and Hamiltonian Methods for Nonlinear Control 2006 Proceedings from the 3rd IFAC Workshop, Nagoya, Japan, July 2006 /

Lagrangian and Hamiltonian Methods for Nonlinear Control 2006 Proceedings from the 3rd IFAC Workshop, Nagoya, Japan, July 2006 /

Bibliographic Details
Corporate Author: SpringerLink (Online service)
Other Authors: Allgüwer, F. (Editor), Fleming, P. (Editor), Kokotovic, P. (Editor), Kurzhanski, A.B (Editor), Kwakernaak, H. (Editor), Rantzer, A. (Editor), Tsitsiklis, J.N (Editor), Bullo, Francesco (Editor), Fujimoto, Kenji (Editor)
Format: Electronic eBook
Language:English
Published: Berlin, Heidelberg : Springer Berlin Heidelberg, 2007.
Series:Lecture Notes in Control and Information Sciences, 366
Subjects:
Engineering.
System theory.
Control engineering.
Robotics.
Mechatronics.
Control, Robotics, Mechatronics.
Systems Theory, Control.
Online Access:Full Text via HEAL-Link
Table of 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 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 Partially Singular 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.

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