Bloch / Krishnaprasad / Murray Nonholonomic Mechanics and Control

2. Auflage 2015
ISBN: 978-1-4939-3017-3
Verlag: Springer US
Format: PDF
Kopierschutz: 1 - PDF Watermark

E-Book, Englisch, Band 24, 565 Seiten, eBook

Reihe: Interdisciplinary Applied Mathematics

This book explores connections between control theory and geometric mechanics. The author links control theory 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 is appropriate as there is a rich connection between mechanics and nonlinear control theory. The book provides a unified treatment of nonlinear control theory and constrained mechanical systems that incorporates material not available in other recent texts. The book benefits graduate students and researchers in the area who want to enhance their understanding and enhance their techniques.

Zielgruppe

Graduate

Autoren/Hrsg.

Bloch, A. M.

Krishnaprasad, P. S.

Murray, R. M.

Weitere Mitwirkende

Baillieul, John

Crouch, Peter

Marsden, Jerrold E.

Zenkov, Dmitry

Inhaltsverzeichnis

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.