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Lagrangian and Hamiltonian Methods For Nonlinear Control 2006

Proceedings from the 3rd IFAC Workshop, Nagoya, Japan, July 2006

  • Conference proceedings
  • © 2007

Overview

Editors:
  1. F. Allgüwer
  2. P. Fleming
  3. P. Kokotovic
  4. A.B. Kurzhanski
  5. H. Kwakernaak
  6. A. Rantzer
  7. J.N. Tsitsiklis
  8. Francesco Bullo

    1. Mechanical Engineering Department, University of California at Santa Barbara, Santa Barbara, USA

  9. Kenji Fujimoto

    1. Department of Mechanical Science and Engineering, Nagoya University, Nagoya, Japan

  • Recent results in nonlinear control
  • Outcome of the 3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (LHMNLC’06), July 19-21, Nagoya, Japan

Part of the book series: Lecture Notes in Control and Information Sciences (LNCIS, volume 366)

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Table of contents (31 papers)

  1. Front Matter

    Pages I-XV
    Download chapter PDF

  2. A Differential-Geometric Approach for Bernstein’s Degrees-of-Freedom Problem

    • Suguru Arimoto
    Pages 1-28

  3. Nonsmooth Riemannian Optimization with Applications to Sphere Packing and Grasping

    • Gunther Dirr, Uwe Helmke, Christian Lageman
    Pages 29-45

  4. Synchronization of Networked Lagrangian Systems

    • Mark W. Spong, Nikhil Chopra
    Pages 47-59

  5. An Algorithm to Discretize One-Dimensional Distributed Port Hamiltonian Systems

    • Luca Bassi, Alessandro Macchelli, Claudio Melchiorri
    Pages 61-73

  6. Virtual Lagrangian Construction Method for Infinite-Dimensional Systems with Homotopy Operators

    • Gou Nishida, Masaki Yamakita, Zhiwei Luo
    Pages 75-86

  7. Direct Discrete-Time Design for Sampled-Data Hamiltonian Control Systems

    • Dina Shona Laila, Alessandro Astolfi
    Pages 87-98

  8. Kinematic Compensation in Port-Hamiltonian Telemanipulation

    • Cristian Secchi, Stefano Stramigioli, Cesare Fantuzzi
    Pages 99-110

  9. Interconnection and Damping Assignment Passivity-Based Control of a Four-Tank System

    • Jøgen K. Johnsen, Frank Allöwer
    Pages 111-122

  10. Towards Power-Based Control Strategies for a Class of Nonlinear Mechanical Systems

    • Alessandro de Rinaldis, Jacquelien M.A. Scherpen, Romeo Ortega
    Pages 123-133

  11. Power Shaping Control of Nonlinear Systems: A Benchmark Example

    • Eloísa Garcí-Canseco, Romeo Ortega, Jacquelien M.A. Scherpen, Dimitri Jeltsema
    Pages 135-146

  12. Total Energy Shaping Control of Mechanical Systems: Simplifying the Matching Equations Via Coordinate Changes

    • Giuseppe Viola, Romeo Ortega, Ravi Banavar, José Ángel Acosta, Alessandro Astolfi
    Pages 147-156

  13. Simultaneous Interconnection and Damping Assignment Passivity-Based Control: Two Practical Examples

    • Carles Batlle, Arnau Dòria-Cerezo, Gerardo Espinosa-Pérez, Romeo Ortega
    Pages 157-169

  14. An Internal Model Approach to Implicit Fault Tolerant Control for Port-Hamiltonian Systems

    • Luca Gentili, Andrea Paoli, Claudio Bonivento
    Pages 171-182

  15. On the Geometric Reduction of Controlled Three-Dimensional Bipedal Robotic Walkers

    • Aaron D. Ames, Robert D. Gregg, Eric D.B. Wendel, Shankar Sastry
    Pages 183-196

  16. Gait Generation for a Hopping Robot Via Iterative Learning Control Based on Variational Symmetry

    • Satoshi Satoh, Kenji Fujimoto, Sang-Ho Hyon
    Pages 197-208

  17. On the Interconnection Structures of Irreversible Physical Systems

    • Damien Eberard, Bernhard Maschke, Arjan J. van der Schaft
    Pages 209-220

  18. Rolling Problems on Spaces of Constant Curvature

    • Velimir Jurdjevic, Jason Zimmerman
    Pages 221-231

  19. Dirac Structures and the Legendre Transformation for Implicit Lagrangian and Hamiltonian Systems

    • Hiroaki Yoshimura, Jerrold E. Marsden
    Pages 233-247

  20. Control of a class of 1-generator nonholonomic system with drift through input-dependent coordinate transformation

    • Tsuyoshi Sagami, Mitsuji Sampei, Shigeki Nakaura
    Pages 249-258
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Editors and Affiliations

  • Mechanical Engineering Department, University of California at Santa Barbara, Santa Barbara, USA

    Francesco Bullo

  • Department of Mechanical Science and Engineering, Nagoya University, Nagoya, Japan

    Kenji Fujimoto

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