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- Nonholonomic mechanics and control

Information Discussion 0 Files Holdings. Book Title Nonholonomic mechanics and control Edition 2nd ed. Author s Krishnaprasad, P ed. Series Interdisciplinary applied mathematics ; 24 Subject category Mathematical Physics and Mathematics Abstract 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. It is intended for graduate students who wish to learn this subject and researchers in the area who want to enhance their techniques. 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. ISBN print version electronic version Other editions 1st ed. Back to search. Record created , last modified Similar records. Krishnaprasad, P ed. Interdisciplinary applied mathematics ; 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.

Article Swaczyna, Martin. Keywords: Lagrangian system; constraints; nonholonomic constraints; constraint submanifold; canonical distribution; nonholonomic constraint structure; nonholonomic constrained system; reduced equations of motion without Lagrange multipliers ; Chetaev equations of motion with Lagrange multipliers. Summary: A unified geometric approach to nonholonomic constrained mechanical systems is applied to several concrete problems from the classical mechanics of particles and rigid bodies. In every of these examples the given constraint conditions are analysed, a corresponding constraint submanifold in the phase space is considered, the corresponding constrained mechanical system is modelled on the constraint submanifold, the reduced equations of motion of this system i. Finally, solvability of these equations is discussed and general solutions in explicit form are found. Similar articles:. A: Math.

DRM-free; Included format: PDF; ebooks can be used on all reading devices Nonholonomic Mechanics and Control develops the rich connections theory of nonholonomic mechanics (mechanical systems subject to motion constraints).

Journal Publications. Lee, J. Kang, S. Kim, Y. Im, S.

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Bloch, , A. January ; 57 1 : B3. Nonholonomic Mechanics and Control. Springer-Verlag, New York. ISBN This mathematically oriented book is dedicated to the modeling and control of a class of nonlinear mechanical systems, namely mechanical systems subject to nonholonomic or non integrable bilateral constraints.

Nonholonomic Mechanics and Control develops the rich connections between control theory and geometric mechanics. Control theory is linked with a geometric view of classical mechanics in both its Lagrangian and Hamiltonian formulations and especially with the theory of nonholonomic mechanics mechanical systems subject to motion constraints. Both controllability and optimal control are treated, including the Pontryagin maximum principle. In addition, the stability, control, and stabilization of mechanical systems are discussed. In particular, these items are considered for nonholonomic systems.

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Nonholonomic Mechanics and Control develops the rich connections between PDF · Basic Concepts in Geometric Mechanics. A. M. Bloch. Pages

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