Nonlinear Control in Human–Like Biomechanics
In this Chapter we develop the basics of nonlinear control theory as is used in modern human–like biomechanics. It includes control variations on the central theme of our covariant force law, F i = mg ij aj , and its associated covariant force functor F* : TT*M → TTM (see section 2.7 above).
KeywordsNonlinear Control Symmetric Product Rolling Disk Feedback Linearizable System Planar Rigid Body
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