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＜電子ブック＞
Nonholonomic Mechanics and Control / by A.M. Bloch ; edited by P. S. Krishnaprasad, R.M. Murray
(Interdisciplinary Applied Mathematics. ISSN:21969973 ; 24)

版	2nd ed. 2015.
出版者	(New York, NY : Springer New York : Imprint: Springer)
出版年	2015
本文言語	英語
大きさ	XXI, 565 p : online resource
著者標目	*Bloch, A.M author Krishnaprasad, P. S editor Murray, R.M editor SpringerLink (Online service)
件　名	LCSH:System theory LCSH:Control theory LCSH:Dynamical systems LCSH:Control engineering LCSH:Robotics LCSH:Automation LCSH:Mechanics, Applied FREE:Systems Theory, Control FREE:Dynamical Systems FREE:Control, Robotics, Automation FREE:Engineering Mechanics
一般注記	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 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 constraints. The synthesis of the topic is appropriate as there is a particularly rich connection between mechanics and nonlinear control theory. The book provides a unified treatment of nonlinear control theory and constrained mechanical systems and illustrates the elegant mathematics behind many simple, interesting, and useful mechanical examples. It is intended for graduate students who wish to learn this subject and researchers in the area who want to enhance their techniques. The book contains sections focusing on physical examples and elementary terms, as well as theoretical sections that use sophisticated analysis and geometry. The first four chapters offer preliminaries and background information, while the remaining five are broken down into chapters on nonholonomic mechanics, control and stabilization, optimal control, energy-based, and recent energy-based techniques for mechanical and nonholonomic systems. The second edition of the book extends many of the topics discussed in the first edition to incorporate both new research and more historical background. The additional material includes work on the Hamel equations and quasivelocities, discrete dynamics, bo th holonomic and nonholonomic, Hamiltonization, and the Hamilton-Jacobi equation. In addition new examples and exercises have been added. Review of earlier Edition (A.J. van der Schaft, IEEE Control System Magazine, 2005 ) This book can be read on many different levels and has been described as a “delightful book that will be valuable for both the control community and researchers” HTTP:URL=https://doi.org/10.1007/978-1-4939-3017-3

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