Accession Number:

ADA454894

Title:

Geometric Phases, Anholonomy, and Optimal Movement

Descriptive Note:

Technical research rept.

Corporate Author:

MARYLAND UNIV COLLEGE PARK SYSTEMS RESEARCH CENTER

Personal Author(s):

Report Date:

1991-01-01

Pagination or Media Count:

7.0

Abstract:

In the search for useful strategies for movement of robotic systems e.g., manipulators, platforms in constrained environments e.g., in space, underwater, there appear to be new principles emerging from a deeper geometric understanding of optimal movements of nonholonomically constrained systems. In this work, the authors have exploited some new formulas for geometric phase shifts to derive effective control strategies. The theory of connections in principal bundles provides the proper framework for questions of the type addressed in this paper. They outline the essentials of this theory. A related optimal control problem and its localizations are also considered.

Subject Categories:

  • Numerical Mathematics
  • Cybernetics
  • Mechanics
  • Human Factors Engineering and Man Machine Systems

Distribution Statement:

APPROVED FOR PUBLIC RELEASE