Geometric, Control and Numerical Aspects of Nonholonomic Systems

• Main Author: Cortés Monforte, Jorge (Author, http://id.loc.gov/vocabulary/relators/aut)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Berlin, Heidelberg : Springer Berlin Heidelberg : Imprint: Springer, 2002.
• Edition: 1st ed. 2002.
• Series: Lecture Notes in Mathematics, 1793
• Subjects: Dynamics.; Ergodic theory.; Mechanics.; Mechanics, Applied.; System theory.; Dynamical Systems and Ergodic Theory.; Theoretical and Applied Mechanics.; Systems Theory, Control.

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 coming from several disciplines. The main ai...

Table of Contents:

• Preface
• 1. Introduction
• 2. Basic geometric tools
• 3. Nonholonomic systems
• 4. Symmetries of nonholonomic systems
• 5. Chaplygin systems
• 6. A class of hybrid nonholonomic systems
• 7. Nonholonomic integrators
• 8. Control of mechanical systems
• References
• Index.