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Nonholonomic Mechanics and Control

With the Collaboration of J.Baillieul, P.Crouch and J.Marsden

Anthony Bloch (Autor)

Buch | Hardcover

484 Seiten

2007 | 1st ed. 2003. Corr. 2nd printing 2007
Springer-Verlag New York Inc.
978-0-387-95535-3 (ISBN)

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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.

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.

Erscheint lt. Verlag	27.9.2007
Reihe/Serie	Interdisciplinary Applied Mathematics ; 24
Mitarbeit	Assistent: John Baillieul, Peter E. Crouch, Jerrold Marsden
Zusatzinfo	40 black & white illustrations, biography
Verlagsort	New York, NY
Sprache	englisch
Maße	156 x 234 mm
Gewicht	885 g
Themenwelt	Mathematik / Informatik ► Mathematik ► Angewandte Mathematik
Themenwelt	Technik ► Elektrotechnik / Energietechnik
ISBN-10	0-387-95535-6 / 0387955356
ISBN-13	978-0-387-95535-3 / 9780387955353
Zustand	Neuware