Title: Control for mechanical systems
Detail: Coleman-Ellis lecture, Department of Mathematics & Statistics, Queen's University, 2001/11/07

The control of mechanical systems is a deceptively complicated matter. There are many simple systems for which basic control theoretic tasks are nontrivial. Some of these tasks are:

  1. is it possible to steer from point A to point B? (this is the "controllability" problem);
  2. if yes to 1, how do we do it? (this is the "trajectory generation" problem);
  3. can we design controls that render a desired state stable? (this is the "stabilisation" problem);
  4. can we accomplish a certain task while minimising a cost function? (this is an "optimal control" problem).
In the talk, these problems will be discussed in the context of a couple of simple examples.

No online version avaliable (but check this out).

Andrew D. Lewis (andrew at mast.queensu.ca)