The area of analysis and control of mechanical systems using differential geometry is flourishing. This book collects many results over the last decade and provides a comprehensive introduction to the area.
Geometric Control of Mechanical Systems
and over one million other books are available for Amazon Kindle.
Learn more
FREE Two-Day Shipping for Students. Learn more |
| ||||||||||||||||||||
 Sell Back Your Copy for $19.59
Whether you buy it used on Amazon for $61.00 or somewhere else, you can sell it back through our Book Trade-In Program at the current price of $19.59.
Used Price$61.00
Trade-in Price$19.59
Price after
Trade-in$41.41 |
Book Description
Special Offers and Product Promotions
- Buy $50 in qualifying physical textbooks, get $5 in Amazon MP3 Credit. Here's how (restrictions apply)
Frequently Bought Together
Editorial Reviews
Review
From the reviews: "The book deals with the geometric theory of mathematical modeling, analysis, and control of ‘simple’ mechanical systems … . The text is written with great care and lucidity, includes many exercises, and has clearly benefited from being used in various undergraduate and graduate courses. The book will certainly become a main reference in this area … ." (A. J. van der Schaft, Mathematical Reviews, 2005h)
From the Back Cover
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 book contains extensive examples and exercises, and will be suitable for a growing number of courses in this area. It begins with the detailed mathematical background, proceeding through innovative approaches to physical modeling, analysis, and design techniques. Numerous examples illustrate the proposed methods and results, while the many exercises test basic knowledge and introduce topics not covered in the main body of the text. The audience of this book consists of two groups. The first group is comprised of graduate students in engineering or mathematical sciences who wish to learn the basics of geometric mechanics, nonlinear control theory, and control theory for mechanical systems. Readers will be able to immediately begin exploring the research literature on these subjects. The second group consists of researchers in mechanics and control theory. Nonlinear control theoreticians will find explicit links between concepts in geometric mechanics and nonlinear control theory. Researchers in mechanics will find an overview of topics in control theory that have relevance to mechanics.
Product Details
Would you like to update product info or give feedback on images?
|
More About the Author
Discover books, learn about writers, read author blogs, and more.
Customer Reviews
|
Share your thoughts with other customers:
|
||||||||||||||||||||||
|
Most Helpful Customer Reviews
3 of 3 people found the following review helpful:
5.0 out of 5 stars
Excellent treatment of the subject!,
By
This review is from: Geometric Control of Mechanical Systems: Modeling, Analysis, and Design for Simple Mechanical Control Systems (Hardcover)
This is a very well written book on a difficult subject. A thorough study of "simple mechanical control systems" needs a background in Differential Geometry and students are faced with a great challenge in finding good references. Lewis and Bullo take that challenge and deliver this profoundly useful text. This book provides excellent chapters on the relavent concepts in basic algebra, differential geometry and Lie algebra. Then it introdues the simple mechanical systems in a very readable way. Concepts such as the configuration manifold, rigid bodies, kinetic energy, Riemannian metric etc are well explained in a general setting that the reader can draw analogies to Newtonian mechanics in Euclidean space. Book further discusses more advance topics such as Stability, Controllability and Perturbation analysis etc in Part II. Part III discusses design methodologies. There are plenty of exercises in the book and the website is very resourceful with supplementary material. This is a great addition to the collection of books by Abraham, Marsden, Arnol'd etc, and a must have for all graduate students working on this area.
Share your thoughts with other customers: Create your own review
|
|
Inside This Book
(learn more)
First Sentence:
The first example we consider is from the class of systems modeled by rigid bodies. Read the first page Key Phrases - Statistically Improbable Phrases (SIPs): (learn more)
decoupling vector fields, controlled equilibrium point, configuration error function, simple mechanical control system, connection control system, primitive brackets, linear proportional control, interconnected mechanical system, driftless systems, linear velocity constraint, kinematic controllability, near identity diffeomorphism, input vector fields, geodesic invariance, configuration manifold for the system, dissipative control, kinematic reductions, problem using primitives, tracking error function, ath body, vibrational stabilization, forward kinematic map, potential energy shaping, robotic leg, oscillatory controls Key Phrases - Capitalized Phrases (CAPs): (learn more)
Eisler Lagrange, Euler Lagrange, Invariance Principle, Determine the Christoffel, Zorn's Lemma, Chain Rule, Flow Box Theorem, Energy-Momentum Method, Prove Lemma, Chow's Theorem, Kalman Rank Condition, Newton Euler, Noether Conservation Law New!
Books on Related Topics | Concordance | Text Stats Browse Sample Pages:
Front Cover | Table of Contents | First Pages | Index | Back Cover | Surprise Me!
The first example we consider is from the class of systems modeled by rigid bodies. Read the first page Key Phrases - Statistically Improbable Phrases (SIPs): (learn more)
decoupling vector fields, controlled equilibrium point, configuration error function, simple mechanical control system, connection control system, primitive brackets, linear proportional control, interconnected mechanical system, driftless systems, linear velocity constraint, kinematic controllability, near identity diffeomorphism, input vector fields, geodesic invariance, configuration manifold for the system, dissipative control, kinematic reductions, problem using primitives, tracking error function, ath body, vibrational stabilization, forward kinematic map, potential energy shaping, robotic leg, oscillatory controls Key Phrases - Capitalized Phrases (CAPs): (learn more)
Eisler Lagrange, Euler Lagrange, Invariance Principle, Determine the Christoffel, Zorn's Lemma, Chain Rule, Flow Box Theorem, Energy-Momentum Method, Prove Lemma, Chow's Theorem, Kalman Rank Condition, Newton Euler, Noether Conservation Law New!
Books on Related Topics | Concordance | Text Stats Browse Sample Pages:
Front Cover | Table of Contents | First Pages | Index | Back Cover | Surprise Me!
Citations (learn more)
This book cites 100
books:
See all 100 books this book cites
1
book
cites this book:
- Pure Mathematics: Detailed Solutions to Advanced Level Questions by D. Murray in Back Matter (1), Back Matter (2), and Back Matter (3)
- Nonholonomic Motion Planning (The Springer International Series in Engineering and Computer Science) by Zexiang Li in Back Matter (1), and Back Matter (2)
- Introduction to Numerical Analysis by J. Stoer in Front Matter, and Back Matter
- A Mathematical Introduction to Fluid Mechanics (Texts in Applied Mathematics) (v. 4) by Alexandre J. Chorin in Front Matter, and Back Matter
- Differential Equations and Dynamical Systems by J.K. Hale in Front Matter
See all 100 books this book cites
- New Directions and Applications in Control Theory (Lecture Notes in Control and Information Sciences) by Wijesuriya P. Dayawansa on page 236
Books on Related Topics
(learn more)
|
What Other Items Do Customers Buy After Viewing This Item?
Suggested Tags from Similar Products(What's this?)Be the first one to add a relevant tag (keyword that's strongly related to this product).
|
Customer Discussions
|
This product's forum
Active discussions in related forums
Search Customer Discussions
|
Related forums
|
