Geometric Control of Mechanical Systems

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Focusing on the modeling, analysis, and control of mechanical systems, this book provides a unified approach to control theory applicable to various fields such as robotics and autonomous vehicles. It distinguishes itself by integrating techniques from differential and Riemannian geometry, offering a unique perspective on mechanical control systems. The comprehensive methods and results are designed for a broad range of multi-body system applications, making it a valuable resource for both theory and practical implementation.