AME 90951 - Geometric Nonlinear Control Theory

Institution:

University of Notre Dame

Subject:

Aerospace and Mechanical Engr.

Description:

Review of state space linear dynamical control systems, basic Lyapunov theory, and bifurcation theory. Basic concepts and methods from differential geometry including manifolds, tangent spaces, vector fields, distributions, Frobenius' Theorem, and matrix groups and their application to nonlinear control including I/O and full state linearization via state feedback, controllability and observability, trajectory generation for nonlinear systems, and applications to stratified systems such as legged robotic locomotion and robotic manipulation.

Credits:

3.00

Credit Hours:

Prerequisites:

Corequisites:

Exclusions:

Level:

Instructional Type:

Lecture

Notes:

Additional Information:

Historical Version(s):

Institution Website:

www.nd.edu

Phone Number:

(574) 631-5000

Regional Accreditation:

North Central Association of Colleges and Schools

Calendar System:

Semester

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