Nonholonomic Mechanics and Control / by A.M. Bloch ; edited by P. S. Krishnaprasad, R.M. Murray.

Format:

Book

Author/Creator:

Bloch, Anthony, 1955- Author.

Contributor:

Krishnaprasad, P. S. (Perinkulam Sambamurthy), 1949- Editor.

Murray, R. M., Editor.

Series:

Interdisciplinary Applied Mathematics, 0939-6047 ; 24

Language:

English

Subjects (All):

System theory.

Dynamics.

Ergodic theory.

Automatic control.

Robotics.

Mechatronics.

Mechanics.

Mechanics, Applied.

Systems Theory, Control.

Dynamical Systems and Ergodic Theory.

Control, Robotics, Mechatronics.

Theoretical and Applied Mechanics.

Local Subjects:

Systems Theory, Control.

Dynamical Systems and Ergodic Theory.

Control, Robotics, Mechatronics.

Theoretical and Applied Mechanics.

Physical Description:

1 online resource (XXI, 565 p. 59 illus., 18 illus. in color.)

Edition:

2nd ed. 2015.

Place of Publication:

New York, NY : Springer New York : Imprint: Springer, 2015.

Language Note:

English

Summary:

This book explores some of 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 in particular with the theory of mechanical systems subject to motion constraints. The synthesis of the topic is appropriate as there is a particularly rich connection between mechanics and nonlinear control theory. The book provides a unified treatment of nonlinear control theory and constrained mechanical systems and illustrates the elegant mathematics behind many simple, interesting, and useful mechanical examples. It is intended for graduate students who wish to learn this subject and researchers in the area who want to enhance their techniques. The book contains sections focusing on physical examples and elementary terms, as well as theoretical sections that use sophisticated analysis and geometry. The first four chapters offer preliminaries and background information, while the remaining five are broken down into chapters on nonholonomic mechanics, control and stabilization, optimal control, energy-based, and recent energy-based techniques for mechanical and nonholonomic systems. The second edition of the book extends many of the topics discussed in the first edition to incorporate both new research and more historical background. The additional material includes work on the Hamel equations and quasivelocities, discrete dynamics, bo th holonomic and nonholonomic, Hamiltonization, and the Hamilton-Jacobi equation. In addition new examples and exercises have been added. Review of earlier Edition (A.J. van der Schaft, IEEE Control System Magazine, 2005 ) This book can be read on many different levels and has been described as a “delightful book that will be valuable for both the control community and researchers” .

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.

Notes:

Bibliographic Level Mode of Issuance: Monograph

Includes bibliographical references (pages 515-552) and index.

ISBN:

9781493930173

1493930176