Nonholonomic Mechanics And Control PDF Download
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Author | : A.M. Bloch |
Publisher | : Springer Science & Business Media |
Total Pages | : 501 |
Release | : 2007-09-27 |
Genre | : Mathematics |
ISBN | : 0387955356 |
Download Nonholonomic Mechanics and Control Book in PDF, ePub and Kindle
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 |
Total Pages | : 582 |
Release | : 2015-11-05 |
Genre | : Science |
ISBN | : 1493930176 |
Download Nonholonomic Mechanics and Control Book in PDF, ePub and Kindle
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 | : Sh.Kh Soltakhanov |
Publisher | : Springer Science & Business Media |
Total Pages | : 354 |
Release | : 2009-05-27 |
Genre | : Technology & Engineering |
ISBN | : 3540858474 |
Download Mechanics of non-holonomic systems Book in PDF, ePub and Kindle
A general approach to the derivation of equations of motion of as holonomic, as nonholonomic systems with the constraints of any order is suggested. The system of equations of motion in the generalized coordinates is regarded as a one vector relation, represented in a space tangential to a manifold of all possible positions of system at given instant. The tangential space is partitioned by the equations of constraints into two orthogonal subspaces. In one of them for the constraints up to the second order, the motion low is given by the equations of constraints and in the other one for ideal constraints, it is described by the vector equation without reactions of connections. In the whole space the motion low involves Lagrangian multipliers. It is shown that for the holonomic and nonholonomic constraints up to the second order, these multipliers can be found as the function of time, positions of system, and its velocities. The application of Lagrangian multipliers for holonomic systems permits us to construct a new method for determining the eigenfrequencies and eigenforms of oscillations of elastic systems and also to suggest a special form of equations for describing the system of motion of rigid bodies. The nonholonomic constraints, the order of which is greater than two, are regarded as programming constraints such that their validity is provided due to the existence of generalized control forces, which are determined as the functions of time. The closed system of differential equations, which makes it possible to find as these control forces, as the generalized Lagrange coordinates, is compound. The theory suggested is illustrated by the examples of a spacecraft motion. The book is primarily addressed to specialists in analytic mechanics.
Author | : Zexiang Li |
Publisher | : Springer Science & Business Media |
Total Pages | : 455 |
Release | : 2012-12-06 |
Genre | : Technology & Engineering |
ISBN | : 1461531764 |
Download Nonholonomic Motion Planning Book in PDF, ePub and Kindle
Nonholonomic Motion Planning grew out of the workshop that took place at the 1991 IEEE International Conference on Robotics and Automation. It consists of contributed chapters representing new developments in this area. Contributors to the book include robotics engineers, nonlinear control experts, differential geometers and applied mathematicians. Nonholonomic Motion Planning is arranged into three chapter groups: Controllability: one of the key mathematical tools needed to study nonholonomic motion. Motion Planning for Mobile Robots: in this section the papers are focused on problems with nonholonomic velocity constraints as well as constraints on the generalized coordinates. Falling Cats, Space Robots and Gauge Theory: there are numerous connections to be made between symplectic geometry techniques for the study of holonomies in mechanics, gauge theory and control. In this section these connections are discussed using the backdrop of examples drawn from space robots and falling cats reorienting themselves. Nonholonomic Motion Planning can be used either as a reference for researchers working in the areas of robotics, nonlinear control and differential geometry, or as a textbook for a graduate level robotics or nonlinear control course.
Author | : |
Publisher | : |
Total Pages | : 504 |
Release | : 2007 |
Genre | : |
ISBN | : |
Download Nonholonomic Mechanics and Control by Anthony Bloch Book in PDF, ePub and Kindle
Author | : J. Angeles |
Publisher | : Springer |
Total Pages | : 344 |
Release | : 2014-05-04 |
Genre | : Technology & Engineering |
ISBN | : 3709143624 |
Download Kinematics and Dynamics of Multi-Body Systems Book in PDF, ePub and Kindle
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 | : Patrick J. Rabier |
Publisher | : SIAM |
Total Pages | : 143 |
Release | : 2000-01-01 |
Genre | : Mathematics |
ISBN | : 089871446X |
Download Nonholonomic Motion of Rigid Mechanical Systems from a DAE Viewpoint Book in PDF, ePub and Kindle
Focuses on rigid body systems subjected to kinematic constraints and discusses in detail how the equations of motion are developed. The authors show that such motions can be modeled in terms of differential algebraic equations (DAEs), provided only that the correct variables are introduced.
Author | : Jorge Cortés Monforte |
Publisher | : Springer |
Total Pages | : 235 |
Release | : 2004-10-19 |
Genre | : Mathematics |
ISBN | : 3540457305 |
Download Geometric, Control and Numerical Aspects of Nonholonomic Systems Book in PDF, ePub and Kindle
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 | : Kevin M. Lynch |
Publisher | : Cambridge University Press |
Total Pages | : 545 |
Release | : 2017-05-25 |
Genre | : Computers |
ISBN | : 1107156300 |
Download Modern Robotics Book in PDF, ePub and Kindle
A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
Author | : Rui Yang |
Publisher | : |
Total Pages | : 163 |
Release | : 1992 |
Genre | : Kinematic geometry |
ISBN | : |
Download Nonholonomic Geometry, Mechanics and Control Book in PDF, ePub and Kindle
The motions of various mechanical systems which we wish to synthesize and control often have to satisfy certain kinds of restrictions imposed by the natural environment or the structure of the systems themselves. In mechanics, such restrictions are called constraints. Although the fundamental theory of mechanical systems with constraints was established and developed in the last century, recent research and developments in analytical mechanics and control theory from a geometric viewpoint have inspired a strong desire to reinterpret and reformulate the theory of constrained dynamics in an intrinsic geometric way. In addition, many practical problems in recent investigations in mechanical and electrical engineering, such as modeling and control of mobile robots and dextrons robotic hands, and the design and control of spacecraft, also show the need for a deeper understanding of the role that constraints play in mechanical systems.