Nonholonomic Mechanics and Control - Bloch, Anthony

Nonholonomic Mechanics and Control

Anthony Bloch

Yayınevi: Springer

Yayın tarihi: 12/2003

ISBN: 9780387955353

Yazar : John Baillieul Peter E. Crouch Jerrold E. Marsden

Ciltli | İngilizce | 502 Sayfa |

Tür: Fizik-Astronomi

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The goal of this book is to explore 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 aim is to provide a unified treatment of nonlinear control theory and constrained mechanical systems that incorporates material that has not yet made its way into texts and monographs. This book is intended for graduate students who wish to learn this subject and researchers in the area who want to enhance their techniques.

Table of Contents
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

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