Nonholonomic Mechanics and Control

• Main Author: Bloch, A.M (Author)
• Corporate Author: SpringerLink (Online service)
• Other Authors: Krishnaprasad, P. S. (Editor), Murray, R.M (Editor)
• Format: Electronic eBook
• Language: English
• Published: New York, NY : Springer New York : Imprint: Springer, 2015.
• Series: Interdisciplinary Applied Mathematics, 24
• Subjects: Mathematics.; Dynamics.; Ergodic theory.; System theory.; Mechanics.; Mechanics, Applied.; Control engineering.; Robotics.; Mechatronics.; Systems Theory, Control.; Dynamical Systems and Ergodic Theory.; Control, Robotics, Mechatronics.; Theoretical and Applied Mechanics.

This 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 cons...

Table of Contents:

• 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.