F. Bullo. "Nonlinear Control of Mechanical Systems: A Riemannian Geometry Approach". PhD thesis, California Institute of Technology, Department of Control and dynamical Systems, 1998. Home/Search Document Details and Download
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Robust Hybrid Control for Autonomous Vehicle Motion Planning - Frazzoli, Dahleh, Feron (2000) (21 citations) (Correct)
....is the main driver behind the control design presented in this paper. This can not be achieved using a coordinate dependent control system: to achieve this goal, we will operate directly in the configuration manifold of the helicopter. The tracking on manifolds problem is solved in [60] for fully actuated mechanical systems. In the following we present an extension, for achieving asymptotic (locally exponential) tracking of trajectories for a particular class of underactuated mechanical systems. An approximation of the helicopter model can be shown to be in this class: the ....
.... below) element to reference attitude R ref for which we can find a u 4 such that ff(R d ; u 4 ) ff(p; p) A measure of the distance between two elements R 1 ; R 2 of SO(3) can be derived from the relative rotation ffiR : R 1 R Gamma1 2 (group error) that is still an element of SO(3) [60]. All the elements of SO(3) can be described by a fixed axis r, corresponding to the single real eigenvector, and an angle of rotation , which can be derived from the complex conjugate eigenvalues. As a measure of the magnitude of the group error ffiR, that is the distance between the ....
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F. Bullo. Nonlinear Control of Mechanical Systems: A Riemannian Geometry Approach. PhD thesis, California Institute of Technology, 1998.
Planar Underwater Body - Research Summary and Plans - Toussaint (1998) Self-citation (Bullo) (Correct)
.... Research ffl General problem statement Control the motion of a rigid body along relative equilibria Underactuated control system Exploit the natural geometry of the problem Use Riemannian geometry tools to simplify and generalize Build upon the results obtained by Bullo [1, 2] ffl Proposed research directions Switching between relative equilibria Trajectory tracking for non minimum phase systems Inverse optimality of trajectories Disturbance attenuation along relative equilibria ffl Limit the scope by excluding Adaptive control techniques ....
F. Bullo. Nonlinear Control of Mechanical Systems: A Riemannian Geometry Approach. PhD thesis, California Institute of Technology, August 1998.
On Modeling and Locomotion of Hybrid Mechanical Systems With.. - Bullo, Zefran (1998) Self-citation (Bullo) (Correct)
....controllable on an open set W if the following two conditions hold: i) in each discrete state i, every bad symmetric product is a linear combination of lower order good symmetric products (ii) the rank of Lie( # i#I Sym i (Y i ) q) is full for all q # W . This statement is proven in [4]. The proof relies on two facts. First, by (i) the system in each regime is equilibrium controllable if restricted to the maximal integral manifold of the distribution Lie(Sym i (Y i ) q) In other words, we can reach any configuration on this submanifold and we can reach it at zero velocity. ....
F. Bullo. Nonlinear Control of Mechanical Systems: A Riemannian Geometry Approach. PhD thesis, California Institute of Technology, 1999.
Nonlinear Control of Underactuated Mechanical Systems with.. - Olfati-Saber (2001) (Correct)
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F. Bullo. "Nonlinear Control of Mechanical Systems: A Riemannian Geometry Approach". PhD thesis, California Institute of Technology, Department of Control and dynamical Systems, 1998.
Distributed Structural Stabilization and Tracking for.. - Olfati-Saber, Murray (2002) (Correct)
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F. Bullo, Nonlinear Control of Mechanical Systems: A Riemannian Geometry Approach, Ph.D. thesis, California Institute of Technology, Department of Control and dynamical Systems, 1998.
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