Geometric, Control and Numerical Aspects of Nonholonomic Systems
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
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1793
Springer Berlin Heidelberg New York Hong Kong London Mi/an Paris Tokyo
Jorge Cortes Monforte
Geometric, Control and Numerical Aspects of Nonholonomic Systems
,
Springer
Author Jorge Cortes Monforte Systems, Signals and Control Department Faculty of Mathematical Sciences University of Twente P.O. Box 217 7500 AE Enschede Netherlands
e-mail: [email protected] http://www.math.utwente.nl/ssblcortesmon!orte.htm
Cataloging-in-Publication Data applied for. Die Deutsche Bibliothek - CIP-Einheitsaufnahme Cortes Monforte, Jorge: Geometric, control and numeric aspects of nonholonomic systems / Jorge Cortes Monforte. - Berlin; Heidelberg ; New York; Barcelona ; Hong Kong ; London ; Milan; Paris; Tokyo: Springer, 2002 (Lecture notes in mathematics ; 1793) ISBN 3-540-44154-9
Cover illustration by Maria Cortes Monforte Mathematics Subject Classification (2000): 70F25, 70G45, 37115, 70Q05, 93B05, 93B29 ISSN 0075-8434 ISBN 3-540-44154-9 Springer-Verlag Berlin Heidelberg New York This work is subject to copyright. AII rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilm or in any other way, and storage in data banks. Duplication of this publication or parts thereof is permitted only under the provisions of the German Copyright Law of September 9, 1965, in its current version, and permission for use must always be obtained from Springer-Verlag. Violations are Iiable for prosecution under the German Copyright Law. Springer-Verlag Berlin Heidelberg New York a member ofBertelsmannSpringer Science + Business Media GmbH http://www.springer.de C Springer-Verlag Berlin Heidelberg 2002 Printed in Germany The use of general descriptive names, registered names, trademarks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. Typesetting: Camera-ready TBX output by the author SPIN: 10884692
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A mi padre, mi madre, Ima y la Kuka
Preface
Nonholonomic systems are a widespread topic in several scientific and commercial domains, including robotics, locomotion and space exploration. This book sheds new light on this interdisciplinary character through the investigation of a variety of aspects coming from different disciplines. Nonholonomic systems are a special family of the broader class of mechanical systems. Traditionally, the study of mechanical systems has been carried out from two points of view. On the one hand, the area of Classical Mechanics focuses on more theoretically oriented problems such as the role of dynamics, the analysis of symmetry and related subjects (reduction, phases, relative equilibria), integrability, etc. On the other hand, the discipline of Nonlinear Control Theory tries to answer more practically oriented questions such as which points can be r
