Differential Geometric Control Theory for Mechanical Systems

• Invited session for CDC2000, Sydney Australia, December 12-15, 2000.
• Organisers: Francesco Bullo and Andrew D. Lewis.

Talks

1. On the value of the homogeneity of the affine connection model for mechanical control systems, Francesco Bullo and Andrew D. Lewis.
2. Averaging methods for force controlled and acceleration controlled Lagrangian systems, John Baillieul.
3. A Hamiltonian formulation of inviscid, incompressible fluid flow via optimal control: the total vorticity equations, Anthony M. Bloch, Peter E. Crouch, and Darryl D. Holm.
4. Optimal control of affine connection control systems: a variational approach, J. Alexander Fax and Richard Murray.
5. Relative equilibria, and stability of rings of satellites, P. S. Krishnaprasad.
6. Matching and stabilization of low-dimensional nonholonomic systems, Dmitry V. Zenkov, Anthony M. Bloch, Naomi E. Leonard, and Jerrold E. Marsden.