AME 654: Geometric Nonlinear Control
This course is an introduction to
nonlinear control with emphasis on differential geometric methods.
Topics covered include linear and nonlinear dynamical systems
analysis methods, Lyapunov theory and related controls
applications, bifurcation analysis and related control
applications and differential geometry and nonlinear control from
the differential geometric point of view.
Time and place: 2:00-3:15, Tuesdays and Thursdays, 344 DBRT.
- Homework 1, due September 4,
- Homework 2, due September 11, 2003.
- Homework 3, due September 18, 2003.
- Homework 4, due September 25, 2003.
- Homework 5, due October 2, 2003.
- Homework 6, due October 9, 2003.
- Midterm Exam, due November 4, 2003.
- Homework 7, due November 6, 2003.
- Homework 8, due December 4, 2003.
Last updated: August 28, 2003.
- Nonlinear systems introduction - subtleties, complexities and examples;
- Mathematical preliminaries;
- Dynamical systems overview;
- Lyapunov theory and control applications;
- Bifurcations and control applications;
- Basic differential geometry;
- Linearization by state feedback;
- Design examples using linearization;
- Controllability and observability;
- Steering drift-free systems;
- Application to stratified systems, legged robotic locomotion and robotic manipulation.