Francesco Bullo – författare

The primary emphasis of this book is the modeling, analysis, and control of mechanical systems. The methods and results presented can be applied to a large class of mechanical control systems, including applications in robotics, autonomous vehicle control, and multi-body systems. The book is unique in that it presents a unified, rather than an inclusive, treatment of control theory for mechanical systems. A distinctive feature of the presentation is its reliance on techniques from differential and Riemannian geometry.The book contains extensive examples and exercises, and will be suitable for a growing number of courses in this area. It begins with the detailed mathematical background, proceeding through innovative approaches to physical modeling, analysis, and design techniques. Numerous examples illustrate the proposed methods and results, while the many exercises test basic knowledge and introduce topics not covered in the main body of the text.The audience of this book consists of two groups.The first group is comprised of graduate students in engineering or mathematical sciences who wish to learn the basics of geometric mechanics, nonlinear control theory, and control theory for mechanical systems. Readers will be able to immediately begin exploring the research literature on these subjects. The second group consists of researchers in mechanics and control theory. Nonlinear control theoreticians will find explicit links between concepts in geometric mechanics and nonlinear control theory. Researchers in mechanics will find an overview of topics in control theory that have relevance to mechanics.

This self-contained introduction to the distributed control of robotic networks offers a distinctive blend of computer science and control theory. The book presents a broad set of tools for understanding coordination algorithms, determining their correctness, and assessing their complexity; and it analyzes various cooperative strategies for tasks such as consensus, rendezvous, connectivity maintenance, deployment, and boundary estimation. The unifying theme is a formal model for robotic networks that explicitly incorporates their communication, sensing, control, and processing capabilities--a model that in turn leads to a common formal language to describe and analyze coordination algorithms. Written for first- and second-year graduate students in control and robotics, the book will also be useful to researchers in control theory, robotics, distributed algorithms, and automata theory. The book provides explanations of the basic concepts and main results, as well as numerous examples and exercises.* Self-contained exposition of graph-theoretic concepts, distributed algorithms, and complexity measures for processor networks with fixed interconnection topology and for robotic networks with position-dependent interconnection topology * Detailed treatment of averaging and consensus algorithms interpreted as linear iterations on synchronous networks * Introduction of geometric notions such as partitions, proximity graphs, and multicenter functions * Detailed treatment of motion coordination algorithms for deployment, rendezvous, connectivity maintenance, and boundary estimation

The primary emphasis of this book is the modeling, analysis, and control of mechanical systems. The methods and results presented can be applied to a large class of mechanical control systems, including applications in robotics, autonomous vehicle control, and multi-body systems. The book is unique in that it presents a unified, rather than an inclusive, treatment of control theory for mechanical systems. A distinctive feature of the presentation is its reliance on techniques from differential and Riemannian geometry.The book contains extensive examples and exercises, and will be suitable for a growing number of courses in this area. It begins with the detailed mathematical background, proceeding through innovative approaches to physical modeling, analysis, and design techniques. Numerous examples illustrate the proposed methods and results, while the many exercises test basic knowledge and introduce topics not covered in the main body of the text.The audience of this book consists of two groups. The first group is comprised of graduate students in engineering or mathematical sciences who wish to learn the basics of geometric mechanics, nonlinear control theory, and control theory for mechanical systems. Readers will be able to immediately begin exploring the research literature on these subjects. The second group consists of researchers in mechanics and control theory. Nonlinear control theoreticians will find explicit links between concepts in geometric mechanics and nonlinear control theory. Researchers in mechanics will find an overview of topics in control theory that have relevance to mechanics.

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 ?rst workshop in this series was chaired and organized by ProfessorsN. E. Leonard and R. Ortega, and was held in Princeton, USA, in March 2000. The second one was chaired and organized by Professors A. Astol?, F. Gordillo and A. J. van der Schaft, and was held in Seville, Spain, in April 2003. A vibrantsynergyis documented between areassuch as nonlinear controland optimal control theory, di?erential 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 geometricoptimization, networkedcontrol,control of chemical processes, robotic locomotion, quantum systems, multi-agent s- tems, and robotic grasping and telemanipulation. Novel scienti?c contribution are proposed in a wide variety of techniques including synchronization, control Lyapunov functions, energy and power-based control, optimization algorithms, fault-tolerantcontrol,geometricreduction theory, and iterativelearning control, to name a few.Financial support for the workshop was provided by the 21st Century COE Program (Tokyo Institute of Technology) "Innovation of Creative Engineering through the Development of Advanced Robotics," the Suzuki Foundation, the Daiko Foundation and the University of Nagoya. We also would like to thank all the participants to the workshop, all the members of the national and - ternational organizing committees, the IFAC Secretariat, the IFAC Publications Committee, and the Springer-Verlag review board for the LNCIS series.