Dissipative Control of Mechanical Systems: A Geometric Approach

DOI10.1137/S0363012900374804MaRDI QIDQ4537798zbMATH OpenOpenAlexFDO

Authors Miguel C. Muñoz-Lecanda, F. Javier Yániz-Fernández

Publication date 23 June 2002

Published in SIAM Journal on Control and Optimization (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1137/s0363012900374804

zbMATH Keywords

mechanical systemsdissipative control

Mathematics Subject Classification ID

Global Riemannian geometry, including pinching (53C20) Applications of global differential geometry to the sciences (53C80) Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45) Control of mechanical systems (70Q05) Feedback control (93B52) Asymptotic stability in control theory (93D20)

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(8)

• Optimal control, contact dynamics and Herglotz variational problem
• Geometrical dissipation for dynamical systems
• Trajectory design for mechanical control systems: from geometry to algorithms
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• Reduction, linearization, and stability of relative equilibria for mechanical systems on Riemannian manifolds
• Nonlinear connections for nonconservative mechanical systems
• New results for mechanical Lagrangian control systems
• Configuration controllability for non-zero potential mechanical control systems with dissipation

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