Nonholonomic mechanics and control pdf

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nonholonomic mechanics and control pdf

Nonholonomic Mechanics and Control | SpringerLink

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Nonholonomic Mechanics and Control Interdisciplinary Applied Mathematics

Nonholonomic Mechanics and Control

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.

Yau More by Ovidiu Calin Search this author in:. This paper presents several classical mechanical systems with nonholonomic constraints from the point of view of sub-Riemannian geometry. For those systems that satisfy the bracket generating condition the system can move continuously between any two given states. However, the paper provides a counterexample to show that the bracket generating condition is not also a sufficient condition for connectivity. All possible motions of the system correspond to curves tangent to the distribution defined by the nonholonomic constraints. Among the connecting curves we distinguish an optimal one which minimizes a certain energy induced by a natural sub-Riemannian metric on the non-integrable distribution.

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Featuring five incredible women who will prove to be every bit as beloved as Lou Clark, the unforgettable heroine of Me Before You. 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.

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