Nonsmooth Mechanics Models, Dynamics and Control /

• Main Author: Brogliato, Bernard (Author)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Cham : Springer International Publishing : Imprint: Springer, 2016.
• Edition: 3rd ed. 2016.
• Series: Communications and Control Engineering,
• Subjects: Engineering.; System theory.; Vibration.; Dynamical systems.; Dynamics.; Nanotechnology.; Control engineering.; Control.; Nanotechnology and Microengineering.; Vibration, Dynamical Systems, Control.; Systems Theory, 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 convex analysis and complementarity theory. T...

Table of Contents:

• Impulsive Dynamics and Measure Differential Equations
• Visco-Elastic Contact/Impact Models
• Variational Principles
• Two-Body Collisions and Restitution Rules. Lagrangian Complementarity Systems
• Generalized and Multiple Impacts
• Lyapunov Stability
• Trajectory Tracking
• Appendices: Schwartz Distributions; Measures and Integrals; Functions of Bounded Variation in Time. Elements of Convex Analysis.