Wednesday, May 21

1:30 PM-2:30 PM
Chair: Jerrold E. Marsden, California Institute of Technology Ballroom I, II, III - Level B

Nonlinear Control of Lagrangian Systems

Recent advances in geometric mechanics, motivated in large part by applications in control theory, have introduced new tools for understanding and utilizing the structure present in mechanical systems. In particular, the use of geometric methods for analyzing Lagrangian systems with both symmetries and nonholonomic constraints has led to a unified formulation of the dynamics that has important implications for a wide class of mechanical control systems. In this talk, the speaker will survey recent results in this area, focusing on the relationships between geometric phases, controllability, and curvature, and the role of trajectory generation and tracking in nonlinear controller synthesis. An important class of examples are differentially flat systems, for which the trajectory generation problem is conceptually simple and computationally tractable. Examples will be drawn from robotic locomotion, flight control systems, and other areas, including videotape of experimental results performed at Caltech. Richard M. Murray
California Institute of Technology

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TMP, 4/4/97