Lagrangian and Hamiltonian Methods for Nonlinear Control 2006 Procee
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Francesco Bullo, Kenji Fujimoto (Eds.)
Lagrangian and Hamiltonian Methods for Nonlinear Control 2006 Proceedings from the 3rd IFAC Workshop, Nagoya, Japan, July 2006
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Series Advisory Board F. Allgöwer, P. Fleming, P. Kokotovic, A.B. Kurzhanski, H. Kwakernaak, A. Rantzer, J.N. Tsitsiklis
Editors Francesco Bullo Mechanical Engineering Department University of California at Santa Barbara 2338 Engineering Bldg II Santa Barbara, CA 93106-5070 USA Email: [email protected]
Kenji Fujimoto Department of Mechanical Science and Engineering Nagoya University Furo-cho, Chikusa-ku, Nagoya, 464-8603 Japan Email: [email protected]
Library of Congress Control Number: 2007931367 ISSN print edition: 0170-8643 ISSN electronic edition: 1610-7411 ISBN-10 3-540-73889-4 Springer Berlin Heidelberg New York ISBN-13 978-3-540-73889-3 Springer Berlin Heidelberg New York This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilm or in any other way, and storage in data banks. Duplication of this publication or parts thereof is permitted only under the provisions of the German Copyright Law of September 9, 1965, in its current version, and permission for use must always be obtained from Springer. Violations are liable for prosecution under the German Copyright Law. Springer is a part of Springer Science+Business Media springer.com c Springer-Verlag Berlin Heidelberg 2007 The use of general descriptive names, registered names, trademarks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. Typesetting: by the authors and SPS using a Springer LATEX macro package Printed on acid-free paper
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Preface
This proceedings volume documents the 3rd IFAC Workshop on Lagrangian and Hamiltonian Methods in Nonlinear Control (LHMNLC’06) that was held in Nagoya, Japan, on July 19-21, 2006. The first workshop in this series was chaired and organized by Professors N. E. Leonard and R. Ortega, and was held in Princeton, USA, in March 2000. The second one was chaired and organized by Professors A. Astolfi, F. Gordillo and A. J. van der Schaft, and was held in Seville, Spain, in April 2003. A vibrant synergy is documented between areas such as nonlinear control and optimal control theory, differential and Riemannian geometry, Lagrangian and Hamiltonian mechanics, nonsmooth optimization, and dynamical systems. The articles in this volume focus on technological areas including not only control of mechanical systems, but also geometric optimization, networked control, control of chemical processes, robotic locomotion, quantum systems, multi-agent systems, and robotic grasping and telemanipulation. Novel scientific contribution are proposed in a wide variety of techniques including synchron
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