Geometry, Dynamics and Control of Coupled Systems

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dc.contributor.advisorKrishnaprasad, P.S.en_US
dc.contributor.authorWang, L.S.en_US
dc.contributor.departmentISRen_US
dc.date.accessioned2007-05-23T09:46:44Z
dc.date.available2007-05-23T09:46:44Z
dc.date.issued1990en_US
dc.description.abstractIn this dissertation, we study the dynamics and control of coupled mechanical systems. A key feature of this work is the systematic use of modern geometric mechanics, including methods based on symplectic geometry, Lie symmetry groups, reductions, lagrangian mechanics and hamiltonian mechanics to investigate specific Eulerian manybody problems. A general framework for gyroscopic systems with symmetry is introduced and analyzed. The influence of the gyroscopic term (linear term in Lagrangian) on the dynamical behavior is exploited. The notion of gyroscopic control is proposed to emphasize the role of the gyroscopic term in designing control algorithms. The block-diagonalization techniques associated to the energy-momentum method which proved to be very useful in determining stability for simple mechanical systems with symmetry are successfully extended to gyroscopic systems with symmetry. The techniques developed here are applied to several interesting mechanical systems. These examples include the dual-spin method of attitude control for artificial satellites, a multi-body analog of the dual-spin problem a rigid body with momentum wheels in a central gravitational force field, and a rigid body with momentum wheels and a flexible attachment.en_US
dc.format.extent5881810 bytes
dc.format.mimetypeapplication/pdf
dc.identifier.urihttp://hdl.handle.net/1903/5031
dc.language.isoen_USen_US
dc.relation.ispartofseriesISR; PhD 1990-5en_US
dc.subjectgeometric controlen_US
dc.subjectnonlinear systemsen_US
dc.subjectroboticsen_US
dc.subjectspace structuresen_US
dc.subjectstabilityen_US
dc.subjectIntelligent Servomechanismsen_US
dc.titleGeometry, Dynamics and Control of Coupled Systemsen_US
dc.typeDissertationen_US

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