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Motion Control for Nonholonomic Systems on Matrix Lie Groups
In this dissertation we study the control of nonholonomic systems defined by invariant vector fields on matrix Lie groups. We make use of canonical constructions of coordinates and other mathematical tools provided by the ...
Motion Control and Coupled Oscillators
It is remarkable that despite the presence of large numbers of degrees of freedom, motion control problems are effectively solved in biological systems. While feedback, regulation and tracking have served us well in ...
Control and Stabilization of a Class of Nonlinear Systems with Symmetry
The focus of this dissertation is to study issues related to controllability and stabilization of a class of underactuated mechanical systems with symmetry. In particular we look at systems whose configuration can be ...
Control Problems of Hydrodynamic Type
It has been known for some time that the classical work of Kirchhoff, Love,and Birkhoff on rigid bodies in incompressible, irrotational flows provideseffective models for treating control problems for underwater vehicles.This ...