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Geometric Phases, Anholonomy, and Optimal Movement

dc.contributor.authorKrishnaprasad, Perinkulam S.en_US
dc.contributor.authorYang, R.en_US
dc.description.abstractIn 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 understanding of optimal movements of nonholonomically constrained systems. In our work, we have exploited some new formulas for geometric phase shifts to derive effective control strategies. The theory of connections in principal bundles provides the proper framework for questions of the type addressed in this paper. we outline the essentials of this theory. A related optimal control problem and its localizations are also considered.en_US
dc.format.extent297912 bytes
dc.relation.ispartofseriesISR; TR 1991-69en_US
dc.subjectgeometric controlen_US
dc.subjectnonlinear systemsen_US
dc.subjectoptimal controlen_US
dc.subjectspace structuresen_US
dc.subjectIntelligent Servomechanismsen_US
dc.titleGeometric Phases, Anholonomy, and Optimal Movementen_US
dc.typeTechnical Reporten_US

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