Title: Differential geometry, control theory, and mechanics (27 pages)
Detail: Department of Mechanical Engineering, Johns Hopkins University, 2009/02/19

This will be a survey talk summarising some of the more or less recent achievements of differential geometric methods - particularly Riemannian and affine differential geometry - when appliedto mechanics and control theory for mechanical systems. Geometricmethods provide, in sometimes surprising and non-obvious ways, a point of view that is just what is required for certain sorts of problems. In this talk the focus will be on the problems of controllability, motion planning, stabilisation, and tracking.

244K pdf
Last Updated: Wed Jun 7 20:27:16 2017


Andrew D. Lewis (andrew at mast.queensu.ca)