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Geometric Phases, and Optimal Reconfiguration for Multibody Systems

dc.contributor.authorKrishnaprasad, Perinkulam S.en_US
dc.description.abstractRelative Motion in a system of coupled rigid bodies can yield global reorientation (or phase shift.) We give a formula to compute such a phase shift and interpret the same in geometric terms. The theory of connections in principal bundles provides the proper setting for questions of the addressed in this paper. A related optimal control problem leads to singular riemannian geometry.en_US
dc.format.extent350864 bytes
dc.relation.ispartofseriesISR; TR 1990-39en_US
dc.subjectIntelligent Servomechanismsen_US
dc.titleGeometric Phases, and Optimal Reconfiguration for Multibody Systemsen_US
dc.typeTechnical Reporten_US

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