Inherently Nonlinear Control of Multi-Body Mechanical Systems


Professor N. Harris McClamroch


Department of Aerospace Engineering


University of Michigan




This presentation will focus on inherently nonlinear control problems. These problems are stated in terms of control systems that are not linearly controllable but are controllable in a nonlinear sense.  It is shown that such nonlinear control problems arise in a number of applications involving multi-body mechanical systems.  A high level summary of relevant nonlinear control theory is provided.  Examples of multi-body mechanical systems are used to illustrate these inherently nonlinear control problems.

Friday, April 5, 2002

3:30 - 5:00 p.m.

1500 EECS