Nonsmooth Mechanics: Models, Dynamics and Control (Communications and Control Engineering) - Softcover

Brogliato, Bernard

 
9781447111610: Nonsmooth Mechanics: Models, Dynamics and Control (Communications and Control Engineering)
Softcover
ISBN 10: 1447111613 ISBN 13: 9781447111610
Verlag: Springer, 2012

Inhaltsangabe

Thank you for opening the second edition of this monograph, which is devoted to the study of a class of nonsmooth dynamical systems of the general form: ::i; = g(x,u) (0. 1) f(x, t) 2: 0 where x E JRn is the system's state vector, u E JRm is the vector of inputs, and the function f (-, . ) represents a unilateral constraint that is imposed on the state. More precisely, we shall restrict ourselves to a subclass of such systems, namely mechanical systems subject to unilateral constraints on the position, whose dynamical equations may be in a first instance written as: ii= g(q,q,u) (0. 2) f(q, t) 2: 0 where q E JRn is the vector of generalized coordinates of the system and u is an in put (or controller) that generally involves a state feedback loop, i. e. u= u(q, q, t, z), with z= Z(z, q, q, t) when the controller is a dynamic state feedback. Mechanical systems composed of rigid bodies interacting fall into this subclass. A general prop erty of systems as in (0. 1) and (0. 2) is that their solutions are nonsmooth (with respect to time): Nonsmoothness arises primarily from the occurence of impacts (or collisions, or percussions) in the dynamical behaviour, when the trajectories attain the surface f(x, t) = O. They are necessary to keep the trajectories within the subspace = {x : f(x, t) 2: O} of the system's state space.

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Über die Autorin bzw. den Autor

In addition to having served (1991 – 2001) as Chargé de Recherche at CNRS, and as, now, Directeur de Recherche at INRIA, Bernard Brogliato is an Associate Editor for Automatica (since 2001) a reviewer for Mathematical Reviews and writes book reviews for ASME Applied Mechanics Reviews . He has served on the organising and other committees of various European and international conferences sponsored by an assortment of organizations, most prominently, the IEEE. He has been responsible for examining the PhD and Habilitation theses of 16 students and takes an active part in lecturing at summer schools in several European countries. Doctor Brogliato is the director of SICONOS (a European project concerned with Modelling, Simulation and Control of Nonsmooth Dynamical Systems) which carries funding of €2 million.

Von der hinteren Coverseite

This significantly enlarged and expanded second edition focuses on a class of nonsmooth hybrid dynamical systems, namely finite-dimensional mechanical systems subject to unilateral constraints. It contains a complete overview of the main problems in mathematics, mechanics, stability and control which are of interest in this field. The following topics are discussed in detail and are illustrated with examples:

• shock dynamics;

• multiple impacts;

• feedback control;

• Moreau's sweeping process; and

• complementarity formulations.

With a comprehensive bibliography of over a thousand references, Nonsmooth Dynamics is an indispensable source of information on impact phenomena and rigid-body dynamics.

Praise for the first edition:

The presentation is excellent in combining rigorous mathematics with a great number of examples ranging from simple mechanical systems to robotic systems allowing the reader to understand the basic concepts.

Mathematical Abstracts

It is written with clarity, contains the latest research results in the area of impact problems for rigid bodies and is recommended for both applied mathematicians and engineers.

Mathematical Reviews

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Verlag
Springer
Erscheinungsdatum
2012
Sprache
Englisch
ISBN 10 
1447111613
ISBN 13 
9781447111610
Einband
Taschenbuch
Auflage
2
Anzahl der Seiten
576
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Deutschland

Weitere beliebte Ausgaben desselben Titels

9781852331436: Nonsmooth Mechanics: Models, Dynamics and Control (Communications and Control Engineering)

Vorgestellte Ausgabe

ISBN 10:  1852331437 ISBN 13:  9781852331436
Verlag: Springer, 1999
Hardcover