04305nam0 2200529 i 450 VAN0011316620260702081706.484N9781493930173159149232320180103d2015 |0itac50 baengUS|||| |||||i e bcrNonholonomic mechanics and controlA. M. Blochwith the collaboration of J. Baillieul ... [et al.]with scientific input from P. S. Krishnaprasad and R. M. Murray2. edNew YorkSpringer2015XXI, 565 p.24 cmThis 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, both 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”.001VAN000444742001 Interdisciplinary applied mathematics210 New York [etc.]Springer1990-24VAN00235164Nonholonomic mechanics and control152245634A34Nonlinear ordinary differential equations and systems, general theory [MSC 2020]VANC024338MF49K15Optimality conditions for problems involving ordinary differential equations [MSC 2020]VANC024589MF70F25Nonholonomic systems related to the dynamics of a system of particles [MSC 2020]VANC024188MF93B27Geometric methods [MSC 2020]VANC024190MF93D15Stabilization of systems by feedback [MSC 2020]VANC022397MFConstrainted systemsKW:KControl TheoryKW:KGeometric MechanicsKW:KGeometric control theoryKW:KNonholonomic systemsKW:KUSNew YorkVANL000011BlochAnthony M.VANV035721755507BaillieulJohnVANV038545KrishnaprasadPerinkulam SambamurthyVANV081906MurrayRichard M.VANV087306Springer <editore>VANV108073650ITSOL20260911RICAhttp://dx.doi.org/10.1007/978-1-4939-3017-3E-book – Accesso al full-text attraverso riconoscimento IP di Ateneo, proxy e/o ShibbolethBIBLIOTECA DEL DIPARTIMENTO DI MATEMATICA E FISICAIT-CE0120VAN08NVAN00113166BIBLIOTECA DEL DIPARTIMENTO DI MATEMATICA E FISICA08DLOAD e-book 0347 08eMF347 20180103 Nonholonomic mechanics and control1522456UNICAMPANIA