https://murray.cds.caltech.edu/index.php?action=history&feed=atom&title=Nonlinear_Control_of_Mechanical_Systems%3A_A_Lagrangian_Perspective 2026-07-27T04:28:18Z Revision history for this page on the wiki MediaWiki 1.44.2 https://murray.cds.caltech.edu/index.php?title=Nonlinear_Control_of_Mechanical_Systems:_A_Lagrangian_Perspective&diff=20043&oldid=prev 2016-05-15T06:20:35Z

<p>htdb2wiki: creating page for 1995f_mur95-nolcos.html</p> <p><b>New page</b></p><div>{{HTDB paper<br /> | authors = Richard M. Murray <br /> | title = Nonlinear Control of Mechanical Systems: A Lagrangian Perspective<br /> | source = &lt;i&gt;Annual Reviews in Control&lt;/i&gt;, v21, pp 31-45<br /> | year = 1997<br /> | type = Preprint<br /> | funding = <br /> | url = http://www.cds.caltech.edu/~murray/preprints/mur97-arc.pdf<br /> | abstract = Recent advances in geometric mechanics, motivated in large part by applications in<br /> control theory, have introduced new tools for understanding and utilizing the structure<br /> present in mechanical systems. In particular, the use of geometric methods for analyzing<br /> Lagrangian systems with both symmetries and non-integrable (or nonholonomic) constraints<br /> has led to a unified formulation of the dynamics that has important implications for a<br /> wide class of mechanical control systems. This paper presents a survey of recent results<br /> in this area, focusing on the relationships between geometric phases, controllability, and<br /> curvature, and the role of trajectory generation in nonlinear controller synthesis.<br /> Examples are drawn from robotics and flight control systems, with an emphasis on motion<br /> control problems. <br /> | flags = <br /> | tag = mur95-nolcos<br /> | id = 1995f<br /> }}</div>

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