Geometric, control, and numerical aspects of nonholonomic systems / Jorge Cortés Monforte.Material type: TextSeries: Lecture notes in mathematics (Springer-Verlag) ; 1793.Publication details: Berlin ; New York : Springer, ©2002. Description: 1 online resource (xiv, 219 pages) : illustrationsContent type: text Media type: computer Carrier type: online resourceISBN: 9783540457305; 3540457305Subject(s): Nonholonomic dynamical systems | Geometry, Differential | Nonlinear control theory | Geometry, Differential | Nonholonomic dynamical systems | Nonlinear control theoryGenre/Form: Electronic books. Additional physical formats: Print version:: Geometric, control, and numerical aspects of nonholonomic systems.DDC classification: 510 s | 516.3/6 LOC classification: QA3 | .L28 no. 1793 | QA614.833Online resources: Click here to access online
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Includes bibliographical references (pages 203-216) and index.
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.
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 aim is to illustrate the idea that a better understanding of the geometric structures of mechanical systems unveils new and unknown aspects to them, and helps both analysis and design to solve standing problems and identify new challenges. In this way, separate areas of research such as Classical Mechanics, Differential Geometry, Numerical Analysis or Control Theory are brought together in this study of nonholonomic systems.