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Dynamics and Control of Constrained Nonlinear Systems
(1992)
As applications have grown in the fields of robotics and automation, power systems, and electronic circuit systems, there has been an increasing interest in the control of constrained dynamic systems described by differential ...
Dissipation Induced Instabilities
(1992)
The main goal of this paper is to prove that if the energy- momentum (or energy-Casimir) method predicts formal instability of a relative equilibrium in a Hamiltonian system with symmetry, then with the addition of ...
Nonholonomic Geometry, Mechanics and Control
(1992)
This dissertation is concerned with dynamic modeling and kinematic control of constrained mechanical systems with symmetry from a geometric point of view. Constraints are defined via the characteristics of distributions ...
On the Geometry and Dynamics of Floating Four-Bar Linkages
(1992)
In this paper, we investigate the kinematics and dynamics of floating, planar four-bar linkages. The geometry of configuration space is analyzed through the classical theory of mechanisms due to Grashof. The techniques of ...