On Geometric Control Design for Holonomic and Nonholonomic Mechanical Systems

differential geometry;mechanical systems;nonholonomic constraints;geodesic--based PD control;n-symplectic geometry

Osborne, Jason ; Dr. Larry Norris, Committee Member,Dr. Dmitry Zenkov, Committee Chair,Dr. Ronald Fulp, Committee Member,Dr. Stephen Campbell, Committee Member,Osborne, Jason ; Dr. Larry Norris ; Committee Member ; Dr. Dmitry Zenkov ; Committee Chair ; Dr. Ronald Fulp ; Committee Member ; Dr. Stephen Campbell ; Committee Member

University:North Carolina State University

关键词: differential geometry;    mechanical systems;    nonholonomic constraints;    geodesic--based PD control;    n-symplectic geometry;   

Others  :  https://repository.lib.ncsu.edu/bitstream/handle/1840.16/4562/etd.pdf?sequence=1&isAllowed=y

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