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Nonholonomic Mechanics And Control Pdf

nonholonomic mechanics and control pdf

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Bloch, , A. January ; 57 1 : B3. Nonholonomic Mechanics and Control. Springer-Verlag, New York. ISBN

Nonholonomic Mechanics and Control - Ebook

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.

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. The aim of the book is to provide a unified treatment of nonlinear control theory and constrained mechanical systems, incorporating material that has not yet made its way into texts and monographs. Detailed illustrations and exercises are included throughout the text.

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.

Nonholonomic Mechanics and Control

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nonholonomic mechanics and control pdf

Nonholonomic Mechanics and Control

Nonholonomic Mechanics and Control on Dynamical Systems

Our goal in this book is to explore some of the connections between control theory and geometric mechanics; that is, we link control theory with a g- metric view of classical mechanics in both its Lagrangian and Hamiltonian formulations and in particular with the theory of mechanical systems s- ject to motion constraints. This synthesis of topics is appropriate, since there is a particularly rich connection between mechanics and nonlinear control theory. While an introduction to many important aspects of the mechanics of nonholonomically constrained systems may be found in such sources as the monograph of Neimark and Fufaev [], the geometric view as well as the control theory of such systems remains largely sc- tered through various research journals. Our aim is to provide a uni? Mechanicshastraditionallydescribedthebehavioroffreeandinteracting particles and bodies, the interaction being described by potential forces. It encompasses the Lagrangian and Hamiltonian pictures and in its modern form relies heavily on the tools of di? From our own point of view,ourpapersBloch,Krishnaprasad,Marsden,andMurray[],Bloch and Crouch [], and Baillieul [] have been particularly in?

Journal Publications. Lee, J. Kang, S.


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).


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The system can't perform the operation now. Try again later. Citations per year. Duplicate citations. The following articles are merged in Scholar. Their combined citations are counted only for the first article. Merged citations.

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Nonholonomic mechanics and control

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