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Geometric Control of Mechanical Systems

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Cover of 'Geometric Control of Mechanical Systems'

Table of Contents

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    Book Overview
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    Chapter 1 Introductory examples and problems
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    Chapter 2 Linear and multilinear algebra
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    Chapter 3 Differential geometry
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    Chapter 4 Simple mechanical control systems
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    Chapter 5 Lie groups, systems on groups, and symmetries
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    Chapter 6 Stability
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    Chapter 7 Controllability
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    Chapter 8 Low-order controllability and kinematic reduction
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    Chapter 9 Perturbation analysis
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    Chapter 10 Linear and nonlinear potential shaping for stabilization
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    Chapter 11 Stabilization and tracking for fully actuated systems
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    Chapter 12 Stabilization and tracking using oscillatory controls
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    Chapter 13 Motion planning for underactuated systems
Attention for Chapter 8: Low-order controllability and kinematic reduction
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