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Nonholonomic mechanics and control

Bloch, A.M.

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Nonholonomic mechanics and control

Record Type:	Electronic resources : Monograph/item
Title/Author:	Nonholonomic mechanics and control/ by A.M. Bloch ; edited by P.S. Krishnaprasad, R.M. Murray.
Author:	Bloch, A.M.
other author:	Krishnaprasad, P. S.
Published:	New York, NY :Springer New York : : 2015.,
Description:	xxi, 565 p. :ill. (some col.), digital ;24 cm.
[NT 15003449]:	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.
Contained By:	Springer eBooks
Subject:	Nonholonomic dynamical systems. -
Online resource:	http://dx.doi.org/10.1007/978-1-4939-3017-3
ISBN:	9781493930173

Nonholonomic mechanics and control
Bloch, A.M.

Nonholonomic mechanics and control[electronic resource] /by A.M. Bloch ; edited by P.S. Krishnaprasad, R.M. Murray. - 2nd ed. - New York, NY :Springer New York :2015. - xxi, 565 p. :ill. (some col.), digital ;24 cm. - Interdisciplinary applied mathematics,v.240939-6047 ;. - Interdisciplinary applied mathematics ;v. 21..

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.

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"

ISBN: 9781493930173

Standard No.: 10.1007/978-1-4939-3017-3doiSubjects--Topical Terms:

735180
Nonholonomic dynamical systems.

LC Class. No.: Q295

Dewey Class. No.: 515.39

Nonholonomic mechanics and control
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100 1 $a Bloch, A.M. $3 2162905
245 1 0 $a Nonholonomic mechanics and control $h [electronic resource] / $c by A.M. Bloch ; edited by P.S. Krishnaprasad, R.M. Murray.
250 $a 2nd ed.
260 $a New York, NY : $b Springer New York : $b Imprint: Springer, $c 2015.
300 $a xxi, 565 p. : $b ill. (some col.), digital ; $c 24 cm.
490 1 $a Interdisciplinary applied mathematics, $x 0939-6047 ; $v v.24
505 0 $a 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.
520 $a 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"
650 0 $a Nonholonomic dynamical systems. $3 735180
650 0 $a Control theory. $3 535880
650 0 $a Mathematics. $3 515831
650 0 $a Dynamics. $3 519830
650 0 $a Ergodic theory. $3 555691
650 0 $a System theory. $3 525574
650 0 $a Mechanics. $3 525881
650 0 $a Mechanics, Applied. $3 545467
650 0 $a Automatic control. $3 535879
650 0 $a Robotics. $3 519753
650 0 $a Mechatronics. $3 737861
650 2 4 $a Systems Theory, Control. $3 893834
650 2 4 $a Dynamical Systems and Ergodic Theory. $3 891276
650 2 4 $a Control, Robotics, Mechatronics. $3 1002220
650 2 4 $a Theoretical and Applied Mechanics. $3 896500
700 1 $a Krishnaprasad, P. S. $3 2162906
700 1 $a Murray, R.M. $3 2162907
710 2 $a SpringerLink (Online service) $3 836513
773 0 $t Springer eBooks
830 0 $a Interdisciplinary applied mathematics ; $v v. 21. $3 1280419
856 4 0 $u http://dx.doi.org/10.1007/978-1-4939-3017-3
950 $a Mathematics and Statistics (Springer-11649)