Nonholonomic Motion of Rigid Mechanical Systems from a DAE Viewpoint PDF Download

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Nonholonomic Motion of Rigid Mechanical Systems from a DAE Viewpoint

Nonholonomic Motion of Rigid Mechanical Systems from a DAE Viewpoint PDF Author: Patrick J. Rabier
Publisher: SIAM
ISBN: 9780898719536
Category : Mathematics
Languages : en
Pages : 144

Book Description
Several issues are investigated in depth to provide a sound and complete justification of the DAE model. These issues include the development of a generalized Gauss principle of least constraint, a study of the effect of the failure of an important full-rank condition, and a precise characterization of the state spaces. In particular, when the mentioned full-rank condition is not satisfied, this book shows how a new set of equivalent constraints can be constructed in a completely intrinsic way, where, in general, these new constraints comply with the full-rank requirement.
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