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  • Conference proceedings
  • © 2007

Lagrangian and Hamiltonian Methods For Nonlinear Control 2006

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

  • 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
  2. Nonsmooth Riemannian Optimization with Applications to Sphere Packing and Grasping

    • Gunther Dirr, Uwe Helmke, Christian Lageman
    Pages 29-45
  3. Synchronization of Networked Lagrangian Systems

    • Mark W. Spong, Nikhil Chopra
    Pages 47-59
  4. An Algorithm to Discretize One-Dimensional Distributed Port Hamiltonian Systems

    • Luca Bassi, Alessandro Macchelli, Claudio Melchiorri
    Pages 61-73
  5. Direct Discrete-Time Design for Sampled-Data Hamiltonian Control Systems

    • Dina Shona Laila, Alessandro Astolfi
    Pages 87-98
  6. Kinematic Compensation in Port-Hamiltonian Telemanipulation

    • Cristian Secchi, Stefano Stramigioli, Cesare Fantuzzi
    Pages 99-110
  7. Towards Power-Based Control Strategies for a Class of Nonlinear Mechanical Systems

    • Alessandro de Rinaldis, Jacquelien M.A. Scherpen, Romeo Ortega
    Pages 123-133
  8. Power Shaping Control of Nonlinear Systems: A Benchmark Example

    • Eloísa Garcí-Canseco, Romeo Ortega, Jacquelien M.A. Scherpen, Dimitri Jeltsema
    Pages 135-146
  9. 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
  10. Simultaneous Interconnection and Damping Assignment Passivity-Based Control: Two Practical Examples

    • Carles Batlle, Arnau Dòria-Cerezo, Gerardo Espinosa-Pérez, Romeo Ortega
    Pages 157-169
  11. An Internal Model Approach to Implicit Fault Tolerant Control for Port-Hamiltonian Systems

    • Luca Gentili, Andrea Paoli, Claudio Bonivento
    Pages 171-182
  12. 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
  13. On the Interconnection Structures of Irreversible Physical Systems

    • Damien Eberard, Bernhard Maschke, Arjan J. van der Schaft
    Pages 209-220
  14. Rolling Problems on Spaces of Constant Curvature

    • Velimir Jurdjevic, Jason Zimmerman
    Pages 221-231

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

Bibliographic Information

  • Book Title: Lagrangian and Hamiltonian Methods For Nonlinear Control 2006

  • Book Subtitle: Proceedings from the 3rd IFAC Workshop, Nagoya, Japan, July 2006

  • Editors: F. Allgüwer, P. Fleming, P. Kokotovic, A.B. Kurzhanski, H. Kwakernaak, A. Rantzer, J.N. Tsitsiklis, Francesco Bullo, Kenji Fujimoto

  • Series Title: Lecture Notes in Control and Information Sciences

  • DOI: https://doi.org/10.1007/978-3-540-73890-9

  • Publisher: Springer Berlin, Heidelberg

  • eBook Packages: Engineering, Engineering (R0)

  • Copyright Information: Springer-Verlag Berlin Heidelberg 2007

  • Softcover ISBN: 978-3-540-73889-3Published: 28 August 2007

  • eBook ISBN: 978-3-540-73890-9Published: 06 October 2007

  • Series ISSN: 0170-8643

  • Series E-ISSN: 1610-7411

  • Edition Number: 1

  • Number of Pages: XV, 398

  • Topics: Control, Robotics, Mechatronics, Systems Theory, Control

Buy it now

Buying options

eBook USD 129.00
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book USD 169.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Other ways to access