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Now showing items 1-10 of 45

#### Hamiltonian Dynamics of a Rigid Body in a Central Gravitational Field

(1990)

This paper concerns the dynamics of a rigid body moving under the influence of a central gravitational field. Explicit account is taken of effects arising because of the finite extent of the body. The hamiltonian framework ...

#### Geometric Phases, and Optimal Reconfiguration for Multibody Systems

(1990)

Relative Motion in a system of coupled rigid bodies can yield global reorientation (or phase shift.) We give a formula to compute such a phase shift and interpret the same in geometric terms. The theory of connections in ...

#### On the Dynamics of Floating Four-Bar Linkages. II. Bifurcations of Relative Equilibria

(1990)

Continuing our program to understand the geometry and dynamics of floating four-bar linkages, we explore the relative equilibria of an assembly that admits symmetric configurations. We show that a symmetric configuration ...

#### Motion Control of Drift-Free, Left-Invariant Systems on Lie Groups, Part II: A General Constructive Control Algorithm

(1994)

In this paper we present a general algorithm for constructing open-loop controls to solve the complete constructive controllability problem for drift-free invariant systems on Lie groups that satisfy the Lie algebra ...

#### Averaging and Motion Control On Lie Groups

(1993)

The deeper investigation of problems of feedback stabilization and constructive controllability has drawn increased attention to the question of structuring control systems. Thus, for instance, it is interesting to know ...

#### A Multibody Analog of Dual-Spin Problems

(1990)

In the field of spacecraft altitude control and stabilization, the dual-spin maneuver has an important place. Here, we consider a problem which is a multibody analog of the dual-spin problem. The dynamical equations are ...

#### H∞ Control for Impulsive Disturbances: A State-Space Solution

(1994)

In this paper we formulate and study an interesting (sub) optimal H∞ control problem related to the attenuation of impulsive disturbances to a class of linear systems. Among the motivating factors is the need to study ...

#### Mechanical Systems with Partial Damping: Two Examples

(1991)

We discuss the problem of constructing steady state motions of mechanical systems with partial damping. A planar three bar linkage with viscous damping at one of the joints is considered as an example. We show that for a ...

#### A Motion Description Language and a Hybrid Architecture for Motion Planning with Nonholonomic Robots

(1995)

This paper puts forward a formal basis for behavior-based robotics, using techniques that have been successful in control- theory-based approaches for steering and stabilizing robots that are subject to nonholonomic ...

#### Analysis and Synthesis of Feedforward Neural Networks Using Discrete Affine Wavelet Transformations

(1990)

In this paper we develop a theoretical description of standard feedfoward neural networks in terms of discrete affine wavelet transforms. This description aids in establishing a rigorous understanding of the behavior of ...