Nonsmooth Mechanics Models, Dynamics and Control
Now in its third edition, this standard reference is a comprehensive treatment of nonsmooth mechanical systems refocused to give more prominence to control and modelling. It covers Lagrangian and Newton–Euler systems, detailing mathematical tools such as
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Bernard Brogliato
Nonsmooth Mechanics Models, Dynamics and Control Third Edition
Communications and Control Engineering Series editors Alberto Isidori, Roma, Italy Jan H. van Schuppen, Amsterdam, The Netherlands Eduardo D. Sontag, Piscataway, USA Miroslav Krstic, La Jolla, USA
More information about this series at http://www.springer.com/series/61
Bernard Brogliato
Nonsmooth Mechanics Models, Dynamics and Control Third Edition
123
Bernard Brogliato INRIA Rhône-Alpes Saint-Ismier France
ISSN 0178-5354 ISSN 2197-7119 (electronic) Communications and Control Engineering ISBN 978-3-319-28662-4 ISBN 978-3-319-28664-8 (eBook) DOI 10.1007/978-3-319-28664-8 Library of Congress Control Number: 2015959938 Mathematics Subject Classification: 70Q05, 70E18, 70E50, 70E55, 70E60, 70H30, 70H14, 93C10, 49J53, 93D05 © Springer International Publishing Switzerland 1996, 1999, 2016 This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. The use of general descriptive names, registered names, trademarks, service marks, 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. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, express or implied, with respect to the material contained herein or for any errors or omissions that may have been made. Printed on acid-free paper This Springer imprint is published by SpringerNature The registered company is Springer International Publishing AG Switzerland
To my son and my wife
Preface
Thank you for opening the third edition of this monograph. The first edition [202] was published in 1996 in the Lecture Notes in Control and Information Sciences series (vol. 220), and the second edition [203] in 1999 in the Communications and Control Engineering series, both at Springer Verlag London. The third edition, written almost 20 years after the first one, is a significantly revised and updated version. Indeed Nonsmooth Mechanics has witnessed intense research during the last two decades, in the fields of Applied Mathematics (existence and uniqueness of solutions, contact complementarity problem well-posedness, numerical analysis, bifurcation analysis), Mechanics (impact modeling, Painlevé paradoxes analysis), Systems and Control (regulation and trajectory tracking), Granular Matter, Robotics, etc. Software packages dedicated to nonsmooth mechanical systems also appeared
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