Control Geométrico de Sistemas Mecánicos

Sonia Martínez
La Gaceta de la Real Sociedad Matemática Española (The Gazzete of the Royal Spanish Mathematical Society), 10 (1) (2007) 53-80

Abstract:

This article reviews in a divulgative manner how certain analytic and differential-geometric tools can be very useful for the control of autonomous mechanical systems. In first place, we revise some basic concepts and problems from Mathematical Control Theory. Then, we define three possible control strategies based on complementary oscillatory forcing to define motion primitives. We illustrate the exposition with numerous engineering and robotic examples. (Note: Article written in Spanish).

File: main.pdf

Bib-tex entry:

@article{SM:07,
author = {S. Mart{\'\i}nez},
title = {Control Geom\'etrico de Sistemas Mec\'anicos},
journal= {La Gaceta de la Real Sociedad Matem\'atica Espa\~nola},
volume = 10,
number = 1,
year = 2007,
pages = {53--80},
note = {Article written in Spanish}
}