Nonsmooth Mechanics - Models, Dynamics and Control (Paperback, 2nd ed. 1999. Softcover reprint of the original 2nd ed. 1999)

Thank you for opening the second edition of this monograph, which is devoted to the study of a class of nonsmooth dynamical systems of the general form: :: i; = g(x, u) (0. 1) f(x, t) 2: 0 where x E JRn is the system's state vector, u E JRm is the vector of inputs, and the function f (-, . ) represents a unilateral constraint that is imposed on the state. More precisely, we shall restrict ourselves to a subclass of such systems, namely mechanical systems subject to unilateral constraints on the position, whose dynamical equations may be in a first instance written as: ii= g(q, q, u) (0. 2) f(q, t) 2: 0 where q E JRn is the vector of generalized coordinates of the system and u is an in put (or controller) that generally involves a state feedback loop, i. e. u= u(q, q, t, z), with z= Z(z, q, q, t) when the controller is a dynamic state feedback. Mechanical systems composed of rigid bodies interacting fall into this subclass. A general prop erty of systems as in (0. 1) and (0. 2) is that their solutions are nonsmooth (with respect to time): Nonsmoothness arises primarily from the occurence of impacts (or collisions, or percussions) in the dynamical behaviour, when the trajectories attain the surface f(x, t) = O. They are necessary to keep the trajectories within the subspace " = {x: f(x, t) 2: O} of the system's state space."

General

Imprint:	Springer London
Country of origin:	United Kingdom
Series:	Communications and Control Engineering
Release date:	December 2012
First published:	1999
Authors:	Bernard Brogliato
Dimensions:	235 x 155 x 31mm (L x W x T)
Format:	Paperback
Pages:	552
Edition:	2nd ed. 1999. Softcover reprint of the original 2nd ed. 1999
ISBN-13:	978-1-4471-1161-0
Categories:	Books > Reference & Interdisciplinary > Communication studies > Information theory > Cybernetics & systems theory Books > Science & Mathematics > Physics > Classical mechanics > General Books > Professional & Technical > Mechanical engineering & materials > Mechanical engineering > General Books > Computing & IT > Applications of computing > Artificial intelligence > General Books > Professional & Technical > Mechanical engineering & materials > Materials science > Mechanics of solids > General Books > Professional & Technical > Electronics & communications engineering > Electronics engineering > Automatic control engineering > General Promotions
LSN:	1-4471-1161-3
Barcode:	9781447111610

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