Geometric Control Theory - 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 Geometric Control Theory write by Velimir Jurdjevic. This book was released on 1997. Geometric Control Theory available in PDF, EPUB and Kindle. Geometric control theory is concerned with the evolution of systems subject to physical laws but having some degree of freedom through which motion is to be controlled. This book describes the mathematical theory inspired by the irreversible nature of time evolving events. The first part of the book deals with the issue of being able to steer the system from any point of departure to any desired destination. The second part deals with optimal control, the question of finding the best possible course. An overlap with mathematical physics is demonstrated by the Maximum principle, a fundamental principle of optimality arising from geometric control, which is applied to time-evolving systems governed by physics as well as to man-made systems governed by controls. Applications are drawn from geometry, mechanics, and control of dynamical systems. The geometric language in which the results are expressed allows clear visual interpretations and makes the book accessible to physicists and engineers as well as to mathematicians.
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.
Control Theory from the Geometric Viewpoint
Control Theory from the Geometric Viewpoint - 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 Theory from the Geometric Viewpoint write by Andrei A. Agrachev. This book was released on 2004-04-15. Control Theory from the Geometric Viewpoint available in PDF, EPUB and Kindle. This book presents some facts and methods of Mathematical Control Theory treated from the geometric viewpoint. It is devoted to finite-dimensional deterministic control systems governed by smooth ordinary differential equations. The problems of controllability, state and feedback equivalence, and optimal control are studied. Some of the topics treated by the authors are covered in monographic or textbook literature for the first time while others are presented in a more general and flexible setting than elsewhere. Although being fundamentally written for mathematicians, the authors make an attempt to reach both the practitioner and the theoretician by blending the theory with applications. They maintain a good balance between the mathematical integrity of the text and the conceptual simplicity that might be required by engineers. It can be used as a text for graduate courses and will become most valuable as a reference work for graduate students and researchers.
Geometric Control of Mechanical Systems
Geometric Control of Mechanical Systems - 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 Geometric Control of Mechanical Systems write by Francesco Bullo. This book was released on 2019-06-12. Geometric Control of Mechanical Systems available in PDF, EPUB and Kindle. 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 Optimal Control
Geometric Optimal 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 Geometric Optimal Control write by Heinz Schättler. This book was released on 2012-06-26. Geometric Optimal Control available in PDF, EPUB and Kindle. This book gives a comprehensive treatment of the fundamental necessary and sufficient conditions for optimality for finite-dimensional, deterministic, optimal control problems. The emphasis is on the geometric aspects of the theory and on illustrating how these methods can be used to solve optimal control problems. It provides tools and techniques that go well beyond standard procedures and can be used to obtain a full understanding of the global structure of solutions for the underlying problem. The text includes a large number and variety of fully worked out examples that range from the classical problem of minimum surfaces of revolution to cancer treatment for novel therapy approaches. All these examples, in one way or the other, illustrate the power of geometric techniques and methods. The versatile text contains material on different levels ranging from the introductory and elementary to the advanced. Parts of the text can be viewed as a comprehensive textbook for both advanced undergraduate and all level graduate courses on optimal control in both mathematics and engineering departments. The text moves smoothly from the more introductory topics to those parts that are in a monograph style were advanced topics are presented. While the presentation is mathematically rigorous, it is carried out in a tutorial style that makes the text accessible to a wide audience of researchers and students from various fields, including the mathematical sciences and engineering. Heinz Schättler is an Associate Professor at Washington University in St. Louis in the Department of Electrical and Systems Engineering, Urszula Ledzewicz is a Distinguished Research Professor at Southern Illinois University Edwardsville in the Department of Mathematics and Statistics.
