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Author: A.M. Bloch Publisher: Springer Science & Business Media ISBN: 0387216448 Category : Mathematics Languages : en Pages : 498
Book Description
This book explores connections between control theory and geometric mechanics. The author links control theory 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 is appropriate as there is a rich connection between mechanics and nonlinear control theory. The book provides a unified treatment of nonlinear control theory and constrained mechanical systems that incorporates material not available in other recent texts. The book benefits graduate students and researchers in the area who want to enhance their understanding and enhance their techniques.
Author: A.M. Bloch Publisher: Springer Science & Business Media ISBN: 0387216448 Category : Mathematics Languages : en Pages : 498
Book Description
This book explores connections between control theory and geometric mechanics. The author links control theory 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 is appropriate as there is a rich connection between mechanics and nonlinear control theory. The book provides a unified treatment of nonlinear control theory and constrained mechanical systems that incorporates material not available in other recent texts. The book benefits graduate students and researchers in the area who want to enhance their understanding and enhance their techniques.
Author: A.M. Bloch Publisher: Springer Science & Business Media ISBN: 0387955356 Category : Mathematics Languages : en Pages : 501
Book Description
This book explores connections between control theory and geometric mechanics. The author links control theory 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 is appropriate as there is a rich connection between mechanics and nonlinear control theory. The book provides a unified treatment of nonlinear control theory and constrained mechanical systems that incorporates material not available in other recent texts. The book benefits graduate students and researchers in the area who want to enhance their understanding and enhance their techniques.
Author: Jorge Cortés Monforte Publisher: Springer ISBN: 3540457305 Category : Mathematics Languages : en Pages : 235
Book Description
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.
Author: J. Angeles Publisher: Springer ISBN: 3709143624 Category : Technology & Engineering Languages : en Pages : 344
Book Description
Three main disciplines in the area of multibody systems are covered: kinematics, dynamics, and control, as pertaining to systems that can be modelled as coupling or rigid bodies. The treatment is intended to give a state of the art of the topics discussed.
Author: Toshihiro Iwai Publisher: Springer Nature ISBN: 9811606889 Category : Mathematics Languages : en Pages : 193
Book Description
The falling cat is an interesting theme to pursue, in which geometry, mechanics, and control are in action together. As is well known, cats can almost always land on their feet when tossed into the air in an upside-down attitude. If cats are not given a non-vanishing angular momentum at an initial instant, they cannot rotate during their motion, and the motion they can make in the air is vibration only. However, cats accomplish a half turn without rotation when landing on their feet. In order to solve this apparent mystery, one needs to thoroughly understand rotations and vibrations. The connection theory in differential geometry can provide rigorous definitions of rotation and vibration for many-body systems. Deformable bodies of cats are not easy to treat mechanically. A feasible way to approach the question of the falling cat is to start with many-body systems and then proceed to rigid bodies and, further, to jointed rigid bodies, which can approximate the body of a cat. In this book, the connection theory is applied first to a many-body system to show that vibrational motions of the many-body system can result in rotations without performing rotational motions and then to the cat model consisting of jointed rigid bodies. On the basis of this geometric setting, mechanics of many-body systems and of jointed rigid bodies must be set up. In order to take into account the fact that cats can deform their bodies, three torque inputs which may give a twist to the cat model are applied as control inputs under the condition of the vanishing angular momentum. Then, a control is designed according to the port-controlled Hamiltonian method for the model cat to perform a half turn and to halt the motion upon landing. The book also gives a brief review of control systems through simple examples to explain the role of control inputs.
Author: Piernicola Bettiol Publisher: Springer ISBN: 3319069179 Category : Mathematics Languages : en Pages : 242
Book Description
Since the 1950s control theory has established itself as a major mathematical discipline, particularly suitable for application in a number of research fields, including advanced engineering design, economics and the medical sciences. However, since its emergence, there has been a need to rethink and extend fields such as calculus of variations, differential geometry and nonsmooth analysis, which are closely tied to research on applications. Today control theory is a rich source of basic abstract problems arising from applications, and provides an important frame of reference for investigating purely mathematical issues. In many fields of mathematics, the huge and growing scope of activity has been accompanied by fragmentation into a multitude of narrow specialties. However, outstanding advances are often the result of the quest for unifying themes and a synthesis of different approaches. Control theory and its applications are no exception. Here, the interaction between analysis and geometry has played a crucial role in the evolution of the field. This book collects some recent results, highlighting geometrical and analytical aspects and the possible connections between them. Applications provide the background, in the classical spirit of mutual interplay between abstract theory and problem-solving practice.
Author: Dong Eui Chang Publisher: Springer ISBN: 1493924419 Category : Mathematics Languages : en Pages : 506
Book Description
This book illustrates the broad range of Jerry Marsden’s mathematical legacy in areas of geometry, mechanics, and dynamics, from very pure mathematics to very applied, but always with a geometric perspective. Each contribution develops its material from the viewpoint of geometric mechanics beginning at the very foundations, introducing readers to modern issues via illustrations in a wide range of topics. The twenty refereed papers contained in this volume are based on lectures and research performed during the month of July 2012 at the Fields Institute for Research in Mathematical Sciences, in a program in honor of Marsden's legacy. The unified treatment of the wide breadth of topics treated in this book will be of interest to both experts and novices in geometric mechanics. Experts will recognize applications of their own familiar concepts and methods in a wide variety of fields, some of which they may never have approached from a geometric viewpoint. Novices may choose topics that interest them among the various fields and learn about geometric approaches and perspectives toward those topics that will be new for them as well.
Author: Michael J. Enos Publisher: American Mathematical Soc. ISBN: 9780821892008 Category : Mathematics Languages : en Pages : 298
Book Description
This book contains a collection of papers presented at the Fields Institute workshop, ``The Falling Cat and Related Problems,'' held in March 1992. The theme of the workshop was the application of methods from geometric mechanics and mathematical control theory to problems in the dynamics and control of freely rotating systems of coupled rigid bodies and related nonholonomic mechanical systems. This book will prove useful in providing insight into this new and exciting area of research.
Author: Juru Isaakovich Ne_mark Publisher: American Mathematical Soc. ISBN: 082183617X Category : Mathematics Languages : en Pages : 530
Book Description
The goal of this book is to give a comprehensive and systematic exposition of the mechanics of nonholonomic systems, including the kinematics and dynamics of nonholonomic systems with classical nonholonomic constraints, the theory of stability of nonholonomic systems, technical problems of the directional stability of rolling systems, and the general theory of electrical machines. The book contains a large number of examples and illustrations.
Author: A.M. Bloch
Author: A.M. Bloch
Author: A.M. Bloch
Author: Jorge Cortés Monforte
Author: J. Angeles
Author: Toshihiro Iwai
Author: Piernicola Bettiol
Author: Dong Eui Chang
Author: Kevin M. Lynch
Author: Michael J. Enos
Author: Juru Isaakovich Ne_mark