AME 698: 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, 205 Cushing.
- Homework 1, due September 2,
- Homework 2, due September 9, 1999.
- Homework 3, due September 16, 1999.
- Homework 4, due September 23, 1999.
- Homework 5, due September 30, 1999.
- Homework 6, due October 7, 1999.
- Homework 7, due November 4, 1999.
- Homework 8, due November 30, 1999.
- Final Exam, due December 17, 1999.
Last updated: October 5, 1999.
- 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.