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.
Instructor:  Handouts: Homework sets: Outline:
  1. Nonlinear systems introduction - subtleties, complexities and examples;
  2. Mathematical preliminaries;
  3. Dynamical systems overview;
  4. Lyapunov theory and control applications;
  5. Bifurcations and control applications;
  6. Basic differential geometry;
  7. Linearization by state feedback;
  8. Design examples using linearization;
  9. Controllability and observability;
  10. Steering drift-free systems;
  11. Application to stratified systems, legged robotic locomotion and robotic manipulation.
Last updated: August 28, 2003.
Bill Goodwine (