Control of Nonholonomic Systems: from Sub-Riemannian Geometry to Motion Planning - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Control of Nonholonomic Systems: from Sub-Riemannian Geometry to Motion Planning write by Frédéric Jean. This book was released on 2014-07-30. Control of Nonholonomic Systems: from Sub-Riemannian Geometry to Motion Planning available in PDF, EPUB and Kindle. Nonholonomic systems are control systems which depend linearly on the control. Their underlying geometry is the sub-Riemannian geometry, which plays for these systems the same role as Euclidean geometry does for linear systems. In particular the usual notions of approximations at the first order, that are essential for control purposes, have to be defined in terms of this geometry. The aim of these notes is to present these notions of approximation and their application to the motion planning problem for nonholonomic systems.
Control of Nonholonomic Systems: from Sub-Riemannian Geometry to Motion Planning
Control of Nonholonomic Systems: from Sub-Riemannian Geometry to Motion Planning - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Control of Nonholonomic Systems: from Sub-Riemannian Geometry to Motion Planning write by Frédéric Jean. This book was released on 2014-07-17. Control of Nonholonomic Systems: from Sub-Riemannian Geometry to Motion Planning available in PDF, EPUB and Kindle. Nonholonomic systems are control systems which depend linearly on the control. Their underlying geometry is the sub-Riemannian geometry, which plays for these systems the same role as Euclidean geometry does for linear systems. In particular the usual notions of approximations at the first order, that are essential for control purposes, have to be defined in terms of this geometry. The aim of these notes is to present these notions of approximation and their application to the motion planning problem for nonholonomic systems.
A Comprehensive Introduction to Sub-Riemannian Geometry
A Comprehensive Introduction to Sub-Riemannian Geometry - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook A Comprehensive Introduction to Sub-Riemannian Geometry write by Andrei Agrachev. This book was released on 2019-10-31. A Comprehensive Introduction to Sub-Riemannian Geometry available in PDF, EPUB and Kindle. Provides a comprehensive and self-contained introduction to sub-Riemannian geometry and its applications. For graduate students and researchers.
New Trends in Observer-based Control
New Trends in Observer-based Control - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook New Trends in Observer-based Control write by Olfa Boubaker. This book was released on 2019-08-23. New Trends in Observer-based Control available in PDF, EPUB and Kindle. New Trends in Observer-Based Control: A Practical Guide to Process and Engineering Applications presents a concise introduction to the latest advances in observer-based control design. The book gives a comprehensive tutorial on new trends in the design of observer-based controllers for which the separation principle is well established. It covers a wide range of applications, also including worked examples that make it ideal for both advanced courses and researchers starting work in the field. This book is also particularly suitable for engineers who want to quickly and efficiently enter the field. - Presents a clear-and-concise introduction to the latest advances in observer-based control design - Offers content on many facets of observer-based control design - Discusses key applications in the fields of power systems, robotics and mechatronics, flight and automotive systems
Introduction to Geometric Control
Introduction to Geometric Control - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Introduction to Geometric Control write by Yuri Sachkov. This book was released on 2022-07-02. Introduction to Geometric Control available in PDF, EPUB and Kindle. This text is an enhanced, English version of the Russian edition, published in early 2021 and is appropriate for an introductory course in geometric control theory. The concise presentation provides an accessible treatment of the subject for advanced undergraduate and graduate students in theoretical and applied mathematics, as well as to experts in classic control theory for whom geometric methods may be introduced. Theory is accompanied by characteristic examples such as stopping a train, motion of mobile robot, Euler elasticae, Dido's problem, and rolling of the sphere on the plane. Quick foundations to some recent topics of interest like control on Lie groups and sub-Riemannian geometry are included. Prerequisites include only a basic knowledge of calculus, linear algebra, and ODEs; preliminary knowledge of control theory is not assumed. The applications problems-oriented approach discusses core subjects and encourages the reader to solve related challenges independently. Highly-motivated readers can acquire working knowledge of geometric control techniques and progress to studying control problems and more comprehensive books on their own. Selected sections provide exercises to assist in deeper understanding of the material. Controllability and optimal control problems are considered for nonlinear nonholonomic systems on smooth manifolds, in particular, on Lie groups. For the controllability problem, the following questions are considered: controllability of linear systems, local controllability of nonlinear systems, Nagano–Sussmann Orbit theorem, Rashevskii–Chow theorem, Krener's theorem. For the optimal control problem, Filippov's theorem is stated, invariant formulation of Pontryagin maximum principle on manifolds is given, second-order optimality conditions are discussed, and the sub-Riemannian problem is studied in detail. Pontryagin maximum principle is proved for sub-Riemannian problems, solution to the sub-Riemannian problems on the Heisenberg group, the group of motions of the plane, and the Engel group is described.
