Now showing items 1-4 of 4
Geometric Phases, Anholonomy, and Optimal Movement
In the search for useful strategies for movement of robotic systems (e.g. manipulators, platforms) in constrained environments (e.g. in space, underwater), there appear to be new principles emerging from a deeper geometric ...
Optimal Control and Poisson Reduction
In this paper we make explicit a reduction of G-invariant optimal control problems on a Lie group G.
H∞ Control for Impulsive Disturbances: A State-Space Solution
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 ...
Optimal Control of a Rigid Body with Two Oscillators
This paper is concerned with the exploration of reduction and explicit solvability of optimal control problems on principal bundles with connections from a Hamiltonian point of view. The particular mechanical system we ...