Geometric Phases, and Optimal Reconfiguration for Multibody Systems

Abstract

Relative Motion in a system of coupled rigid bodies can yield global reorientation (or phase shift). We give a formula to compute such a phase shift and interpret the same in geometric terms. The theory of connections in principal bundles provides the proper setting for questions of the type addressed in this paper. A related optimal control problem leads to singular riemannian geometry.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 1990
Accession Number
ADA444557

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  • P.S.Krishnaprasad

Organizations

  • University of Maryland

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  • Geometry
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  • Molecular Dynamics
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Readers

  • Control Systems Engineering.
  • Graph Algorithms and Convex Optimization.