Nonholonomic mechanics and control
著者
書誌事項
Nonholonomic mechanics and control
（Interdisciplinary applied mathematics, v. 24）
Springer, c2003
- タイトル別名
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Systems and control
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注記
Includes bibliographical references and index
Some copies have different pagination: 485 p.
内容説明・目次
内容説明
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.
目次
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.
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