Now showing items 1-3 of 3
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 ...
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 ...
On the Geometry and Dynamics of Floating Four-Bar Linkages
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 ...