Lagrangian and Hamiltonian Methods For Nonlinear Control 2006 : Proceedings From the 3rd IFAC Workshop, Nagoya, Japan, July 2006

From the contents A Differential-Geometric Approach for Bernstein’s Degrees-of-Freedom Problem.- Nonsmooth Riemannian Optimization with Applications to Sphere Packing and Grasping.- Synchronization of Networked Lagrangian Systems.- An Algorithm to Discretize One-Dimensional Distributed Port Hamiltonian Systems.- Virtual Lagrangian Construction Method for Infinitedimensional Systems with Homotopy Operators.- Direct Discrete-Time Design for Sampled-Data Hamiltonian Control Systems.- Kinematic Compensation in Port-Hamiltonian Telemanipulation.- Interconnection and Damping Assignment Passivity-Based Control of a Four-Tank System.- Towards Power-based Control Strategies for a Class of Nonlinear Mechanical Systems.- Power Shaping Control of Nonlinear Systems: A Benchmark Example.- Total Energy Shaping Control of Mechanical Systems: Simplifying the Matching Equations via Coordinate Changes.- Simultaneous Interconnection and Damping Assignment Passivity–Based Control: Two Practical Examples. Front Matter....Pages I-XV A Differential-Geometric Approach for Bernstein’s Degrees-of-Freedom Problem....Pages 1-28 Nonsmooth Riemannian Optimization with Applications to Sphere Packing and Grasping....Pages 29-45 Synchronization of Networked Lagrangian Systems....Pages 47-59 An Algorithm to Discretize One-Dimensional Distributed Port Hamiltonian Systems....Pages 61-73 Virtual Lagrangian Construction Method for Infinite-Dimensional Systems with Homotopy Operators....Pages 75-86 Direct Discrete-Time Design for Sampled-Data Hamiltonian Control Systems....Pages 87-98 Kinematic Compensation in Port-Hamiltonian Telemanipulation....Pages 99-110 Interconnection and Damping Assignment Passivity-Based Control of a Four-Tank System....Pages 111-122 Towards Power-Based Control Strategies for a Class of Nonlinear Mechanical Systems....Pages 123-133 Power Shaping Control of Nonlinear Systems: A Benchmark Example....Pages 135-146 Total Energy Shaping Control of Mechanical Systems: Simplifying the Matching Equations Via Coordinate Changes....Pages 147-156 Simultaneous Interconnection and Damping Assignment Passivity-Based Control: Two Practical Examples....Pages 157-169 An Internal Model Approach to Implicit Fault Tolerant Control for Port-Hamiltonian Systems....Pages 171-182 On the Geometric Reduction of Controlled Three-Dimensional Bipedal Robotic Walkers....Pages 183-196 Gait Generation for a Hopping Robot Via Iterative Learning Control Based on Variational Symmetry....Pages 197-208 On the Interconnection Structures of Irreversible Physical Systems....Pages 209-220 Rolling Problems on Spaces of Constant Curvature....Pages 221-231 Dirac Structures and the Legendre Transformation for Implicit Lagrangian and Hamiltonian Systems....Pages 233-247 Control of a class of 1-generator nonholonomic system with drift through input-dependent coordinate transformation....Pages 249-258 Principal Subspace Flows Via Mechanical Systems on Grassmann Manifolds....Pages 259-267 Approximation of Generalized Minimizers and Regularization of Optimal Control Problems....Pages 269-279 Minimum Time Optimality of a Partially Singular Arc: Second Order Conditions....Pages 281-291 Hamiltonian Engineering for Quantum Systems....Pages 293-304 Stability Analysis of 2-D Object Grasping by a Pair of Robot Fingers with Soft and Hemispherical Ends....Pages 305-316 Intrinsic Control Designs for Abstract Machines....Pages 317-328 Shape Control of a Multi-agent System Using Tensegrity Structures....Pages 329-339 A Family of Pumping-Damping Smooth Strategies for Swinging Up a Pendulum....Pages 341-352 An Energy-Shaping Approach with Direct Mechanical Damping Injection to Design of Control for Power Systems....Pages 353-364 Remarks on Quadratic Hamiltonians in Spaceflight Mechanics....Pages 365-373 Controlling a Submerged Rigid Body: A Geometric Analysis....Pages 375-385 Explicit Structured Singular Value Analysis of Manipulators with Passivity Based Control....Pages 387-396 Back Matter....Pages 397-398 This proceedings volume documents the 3rd IFAC Workshop on Lagrangian and Hamiltonian Methods in Nonlinear Control (LHMNLC'06) that was held in Nagoya, Japan, on July 19-21, 2006. The?rst workshop in this series was chaired and organized by ProfessorsN. E. Leonard and R. Ortega, and was held in Princeton, USA, in March 2000. The second one was chaired and organized by Professors A. Astol?, F. Gordillo and A.J. van der Schaft, and was held in Seville, Spain, in April 2003. A vibrantsynergyis documented between areassuch as nonlinear controland optimal control theory, di?erential and Riemannian geometry, Lagrangian and Hamiltonian mechanics, nonsmooth optimization, and dynamical systems. The articles in this volume focus on technological areas including not only control of mechanical systems, but also geometricoptimization, networkedcontrol, control of chemical processes, robotic locomotion, quantum systems, multi-agent s- tems, and robotic grasping and telemanipulation. Novel scienti?c contribution are proposed in a wide variety of techniques including synchronization, control Lyapunov functions, energy and power-based control, optimization algorithms, fault-tolerantcontrol, geometricreduction theory, and iterativelearning control, to name a few. Financial support for the workshop was provided by the 21st Century COE Program (Tokyo Institute of Technology) "Innovation of Creative Engineering through the Development of Advanced Robotics," the Suzuki Foundation, the Daiko Foundation and the University of Nagoya. We also would like to thank all the participants to the workshop, all the members of the national and - ternational organizing committees, the IFAC Secretariat, the IFAC Publications Committee, and the Springer-Verlag review board for the LNCIS series