¡®Dynamics and control¡¯ focus on the modeling of Lagrangian mechanical systems, the analysis of kinetics and dynamics on the stability, stabilization and motion planning, the details are as follows:
Chapter 1 Lagrangian mechanical systems
1.1 Configuration manifold
1.2 Kinetic energy and Riemannian metric
1.3 Euler-Lagrange equation
1.4 Force
1.5 Nonholonomic constraints
1.6 Simple mechanical control systems
Chapter 2 Groups of rigid body¡¯s motion and the symmetry
2.1 Kinetics of rigid body
2.2 Groups of rigid body, and systems on Lie groups
2.3 Role of the groups and their symmetry
2.4 Simplification of the symmetry
Chapter 3 Stability and controllability of the mechanical systems
3.1 Stability of dynamic systems
3.2 The stability analysis of the equilibrium configuration of mechanical systems
3.3 Relative equilibrium point and its stability
3.4 Controllability of nonlinear affine systems
3.5 Controllability of mechanical control systems
Chapter 4 Low-order controllability and its kinematic simplification
4.1 Results of the low-order controllability
4.2 Simplification of the affine connection control systems
4.3 The relation of controllability and the kinematic controllability
Chapter 5 Potential energy shaping of system stabilization
5.1 On the stabilization of mechanical systems
5.2 The stabilization based on the potential energy shaping
5.3 Passivity approach
Chapter 6 Stabilization and track of full-actuated systems
6.1 The configuration stabilization of full-actuated systems
6.2 Trajectory tracking of full-actuated systems
6.3 Stabilization and track on the Lie groups
Chapter 7 Motion planning of under-actuated systems
7.1 Motion planning of the affine systems without drift terms
7.2 Motion planning of mechanical systems