Nonholonomic Mechanics and Control (Interdisciplinary Applied Mathematics Vol.24) （2nd corr. pr. 2007. XIX, 483 p. w. 49 figs.）

Bloch, Anthony

SPRINGER, BERLIN（2007/01発売）

• 製本 Hardcover:ハードカバー版／ページ数 483 p.
• 商品コード 9780387955353

基本説明

Explores the connections between control theory and geometric mechanics; that is, control theory is linked with a geometric view of classical mechanics in both its Lagrangian and Hamiltonian formulations and with the theory of mechanical systems subject to motion constraints.

Full Description

This book explores connections between control theory and geometric mechanics. The author links control theory with a geometric view of classical mechanics in both its Lagrangian and Hamiltonian formulations, and in particular with the theory of mechanical systems subject to motion constraints. The synthesis is appropriate as there is a rich connection between mechanics and nonlinear control theory. The book provides a unified treatment of nonlinear control theory and constrained mechanical systems that incorporates material not available in other recent texts. The book benefits graduate students and researchers in the area who want to enhance their understanding and enhance their techniques.

Contents

Introduction.- Mathematical Preliminaries.- Basic Concepts in Geometric Mechanics.- Introduction to Aspects of Geometric Control Theory.- Nonholonomic Mechanics.- Control of Mechanical and Nonholonomic Systems.- Optimal Control.- Stability of Nonholonomic Systems.- Energy-Based Methods for Stabilization.- References.- Index.