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＜電子ブック＞
Nonholonomic Mechanics and Control / by A.M. Bloch
(Interdisciplinary Applied Mathematics. ISSN:21969973 ; 24)

版	1st ed. 2003.
出版者	(New York, NY : Springer New York : Imprint: Springer)
出版年	2003
本文言語	英語
大きさ	XIX, 484 p. 40 illus : online resource
著者標目	*Bloch, A.M author SpringerLink (Online service)
件　名	LCSH:Mathematics LCSH:Control engineering LCSH:Robotics LCSH:Automation LCSH:Dynamical systems LCSH:System theory LCSH:Control theory LCSH:Mechanics, Applied FREE:Applications of Mathematics FREE:Control, Robotics, Automation FREE:Dynamical Systems FREE:Systems Theory, Control FREE:Engineering Mechanics
一般注記	Mathematical Preliminaries -- Basic Concepts in Geometric Mechanics -- 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 Controlled Lagrangian Systems Nonholonomic Mechanics and Control develops the rich connections between control theory and geometric mechanics. Control theory is linked with a geometric view of classical mechanics in both its Lagrangian and Hamiltonian formulations and especially with the theory of nonholonomic mechanics (mechanical systems subject to motion constraints). Both controllability and optimal control are treated, including the Pontryagin maximum principle. In addition, the stability, control, and stabilization of mechanical systems are discussed. In particular, these items are considered for nonholonomic systems. The aim of the book is to provide a unified treatment of nonlinear control theory and constrained mechanical systems, incorporating material that has not yet made its way into texts and monographs. Detailed illustrations and exercises are included throughout the text. This book is intended for graduate and advance undergraduate students in mathematics, physics and engineering who wish to learn this subject and for researchers in the area who want to enhance their techniques HTTP:URL=https://doi.org/10.1007/b97376

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