Browsing Department of Mathematics and Statistics: Dr. Andrew D. Lewis by Publish Date
Now showing items 2133 of 33

Geometric sliding mode control: The linear and linearised theory
(2002)The idea of sliding mode control for stabilisation is investigated to determine its geometric features. A geometric definition is provided for a sliding submanifold, and for various properties of a sliding submanifold. Sliding ... 
Controllability of a hovercraft model (and two general results)
(2003)Modelling and controllability studies of a hovercraft system are undertaken. The system studied is a little more complicated than some in the literature in that the inertial dynamics of the thrust fan are taken into ... 
Lagrangian submanifolds and an application to the reduced Schrödinger equation in central force problems
(D. Reidel, 1992)In this Letter, a Lagrangian foliation of the zero energy level is constructed for a family of planar central force problems. The dynamics on the leaves are explicitly computed and these dynamics are given a simple ... 
Nonholonomic mechanics and locomotion: the snakeboard example
(IEEE, 1994)Analysis and simulations are performed for a simplified model of a commercially available variant on the skateboard, known as the Snakeboard.1 Although the model exhibits basic gait patterns seen in a large number of ... 
Decompositions of control systems on manifolds with an affine connection
(NorthHolland, 1997)In this letter we present a decomposition for control systems whose drift vector field is the geodesic spray associated with an affine connection. With the geometric insight gained with this decomposition, we are able to ... 
Simple mechanical control systems with constraints
(IEEE, 2000)We apply some recently developed control theoretic techniques to the analysis of a class of mechanical systems with constraints. Certain simple aspects of the theory of affine connections play an important part in our ... 
Controllability and motion algorithms for underactuated Lagrangian systems on Lie groups
(IEEE, 2000)In this paper, we provide controllability tests and motion control algorithms for underactuated mechanical control systems on Lie groups with Lagrangian equal to kinetic energy. Examples include satellite and underwater ... 
On the homogeneity of the affine connection model for mechanical control systems
(IEEE, 2000)This work presents a review of a number of control results for mechanical systems. The key technical results derive mainly from the homogeneity properties of affine connection models for a large class of mechanical systems. ... 
Kinematic controllability and motion planning for the snakeboard
(IEEE, 2003)The snakeboard is shown to be kinematically controllable. Associated with the two decoupling vector fields for the problem, a constrained static nonlinear programming problem is posed whose solutions provide a solution to ... 
Rigid body mechanics in Galilean spacetimes
(2004)An observerindependent formulation of rigid body dynamics is provided in the general setting of a Galilean spacetime. The equations governing the motion of a rigid body undergoing a rigid motion in a Galilean spacetime ... 
Discussion on: ``Dynamic Sliding Mode Control for a Class of Systems with Mismatched Uncertainty''
(Lavoisier, 2005)This is an invited discussion paper on the paper ``Dynamic Sliding Mode Control for a Class of Systems with Mismatched Uncertainty'' by XingGang Yan, Sarah K. Spurgeon, and Christopher Edwards, that will appear in the ... 
Reduction, linearization, and stability of relative equilibria for mechanical systems on Riemannian manifolds
(2004)Consider a Riemannian manifold equipped with an infinitesimal isometry. For this setup, a unified treatment is provided, solely in the language of Riemannian geometry, of techniques in reduction, linearization, and stability ... 
An example with interesting controllability and stabilisation properties
(2005)A simple threestate system with two inputs is considered. The system's controllability is determined using properties of vectorvalued quadratic forms. The quadratic structure is then used as the basis for the design of ...