Cortés Monforte, Jorge.
Geometric, Control and Numerical Aspects of Nonholonomic Systems [electronic resource] / by Jorge Cortés Monforte. - Berlin, Heidelberg : Springer Berlin Heidelberg : Imprint: Springer, 2002. - XV, 224 p. online resource. - Lecture Notes in Mathematics, 1793 0075-8434 ; . - Lecture Notes in Mathematics, 1793 .
Preface -- 1. Introduction -- 2. Basic geometric tools -- 3. Nonholonomic systems -- 4. Symmetries of nonholonomic systems -- 5. Chaplygin systems -- 6. A class of hybrid nonholonomic systems -- 7. Nonholonomic integrators -- 8. Control of mechanical systems -- References -- Index.
Nonholonomic systems are a widespread topic in several scientific and commercial domains, including robotics, locomotion and space exploration. This work sheds new light on this interdisciplinary character through the investigation of a variety of aspects coming from several disciplines. The main aim is to illustrate the idea that a better understanding of the geometric structures of mechanical systems unveils new and unknown aspects to them, and helps both analysis and design to solve standing problems and identify new challenges. In this way, separate areas of research such as Classical Mechanics, Differential Geometry, Numerical Analysis or Control Theory are brought together in this study of nonholonomic systems.
9783540457305
10.1007/b84020 doi
Mathematics.
Differentiable dynamical systems.
Systems theory.
Mechanics, applied.
Mathematics.
Dynamical Systems and Ergodic Theory.
Theoretical and Applied Mechanics.
Systems Theory, Control.
QA313
515.39 515.48
Geometric, Control and Numerical Aspects of Nonholonomic Systems [electronic resource] / by Jorge Cortés Monforte. - Berlin, Heidelberg : Springer Berlin Heidelberg : Imprint: Springer, 2002. - XV, 224 p. online resource. - Lecture Notes in Mathematics, 1793 0075-8434 ; . - Lecture Notes in Mathematics, 1793 .
Preface -- 1. Introduction -- 2. Basic geometric tools -- 3. Nonholonomic systems -- 4. Symmetries of nonholonomic systems -- 5. Chaplygin systems -- 6. A class of hybrid nonholonomic systems -- 7. Nonholonomic integrators -- 8. Control of mechanical systems -- References -- Index.
Nonholonomic systems are a widespread topic in several scientific and commercial domains, including robotics, locomotion and space exploration. This work sheds new light on this interdisciplinary character through the investigation of a variety of aspects coming from several disciplines. The main aim is to illustrate the idea that a better understanding of the geometric structures of mechanical systems unveils new and unknown aspects to them, and helps both analysis and design to solve standing problems and identify new challenges. In this way, separate areas of research such as Classical Mechanics, Differential Geometry, Numerical Analysis or Control Theory are brought together in this study of nonholonomic systems.
9783540457305
10.1007/b84020 doi
Mathematics.
Differentiable dynamical systems.
Systems theory.
Mechanics, applied.
Mathematics.
Dynamical Systems and Ergodic Theory.
Theoretical and Applied Mechanics.
Systems Theory, Control.
QA313
515.39 515.48