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140122 ||| eng |
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|a 9781447105572
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|a Brogliato, Bernard
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|a Nonsmooth Mechanics
|h Elektronische Ressource
|b Models, Dynamics and Control
|c by Bernard Brogliato
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| 250 |
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|a 2nd ed. 1999
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| 260 |
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|a London
|b Springer London
|c 1999, 1999
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| 300 |
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|a XX, 552 p
|b online resource
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|a 1 Distributional model of impacts -- 1.1 External percussions -- 1.2 Measure differential equations -- 1.3 Systems subject to unilateral constraints -- 1.4 Changes of coordinates in MDEs -- 2 Approximating problems -- 2.1 Simple examples -- 2.2 The method of penalizing functions -- 3 Variational principles -- 3.1 Virtual displacements principle -- 3.2 Gauss’ principle -- 3.3 Lagrange’s equations -- 3.4 External impulsive forces -- 3.5 Hamilton’s principle and unilateral constraints -- 4 Two bodies colliding -- 4.1 Dynamical equations of two rigid bodies colliding -- 4.2 Percussion laws -- 5 Multiconstraint nonsmooth dynamics -- 5.1 Introduction. Delassus’ problem -- 5.2 Multiple impacts: the striking balls examples -- 5.3 Moreau’s sweeping process -- 5.4 Complementarity formulations -- 5.5 The Painlevé’s example -- 5.6 Numerical analysis -- 6 Generalized impacts -- 6.1 The frictionless case -- 6.2 The use of the kinetic metric -- 6.3 Simple generalized impacts --
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|a D Elements of convex analysis
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|a 6.4 Multiple generalized impacts -- 6.5 General restitution rules for multiple impacts -- 6.6 Constraints with Amontons-Coulomb friction -- 6.7 Additional comments and studies -- 7 Stability of nonsmooth dynamical systems -- 7.1 General stability concepts -- 7.2 Grazing orC-bifurcations -- 7.3 Stability: from compliant to rigid models -- 8 Feedback control -- 8.1 Controllability properties -- 8.2 Control of complete robotic tasks -- 8.3 Dynamic model -- 8.4 Stability analysis framework -- 8.5 A one degree-of-freedom example -- 8.6ndegree-of-freedom rigid manipulators -- 8.7 Complementary-slackness juggling systems -- 8.8 Systems with dynamic backlash -- 8.9 Bipedal locomotion -- A Schwartz’ distributions -- A.1 The functional approach -- A.2 The sequential approach -- A.3 Notions of convergence -- B Measures and integrals -- C Functions ofbounded variation in time -- C.1 Definition and generalities -- C.2 Spaces of functions of bounded variation -- C.3 Sobolev spaces --
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| 653 |
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|a Mechanics, Applied
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| 653 |
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|a Classical Mechanics
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| 653 |
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|a Computational intelligence
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| 653 |
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|a Control and Systems Theory
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| 653 |
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|a Control theory
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| 653 |
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|a Systems Theory, Control
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| 653 |
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|a Computational Intelligence
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| 653 |
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|a Engineering Mechanics
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| 653 |
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|a System theory
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| 653 |
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|a Control engineering
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| 653 |
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|a Mechanical engineering
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| 653 |
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|a Mechanical Engineering
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| 653 |
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|a Mechanics
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| 041 |
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|a eng
|2 ISO 639-2
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| 989 |
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|b SBA
|a Springer Book Archives -2004
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| 490 |
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|a Communications and Control Engineering
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| 028 |
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|a 10.1007/978-1-4471-0557-2
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| 856 |
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|u https://doi.org/10.1007/978-1-4471-0557-2?nosfx=y
|x Verlag
|3 Volltext
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|a 620.1
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|a This significantly enlarged and expanded second edition focuses on a class of nonsmooth hybrid dynamical systems, namely finite-dimensional mechanical systems subject to unilateral constraints. It contains a complete overview of the main problems in mathematics, mechanics, stability and control which are of interest in this field. The following topics are discussed in detail and are illustrated with examples: • shock dynamics; • multiple impacts; • feedback control; • Moreau's sweeping process; and • complementarity formulations. With a comprehensive bibliography of over a thousand references, Nonsmooth Dynamics is an indispensable source of information on impact phenomena and rigid-body dynamics. Praise for the first edition: The presentation is excellent in combining rigorous mathematics with a great number of examples ranging from simple mechanical systems to robotic systems allowing the reader to understand the basic concepts. Mathematical Abstracts It is written with clarity, contains the latest research results in the area of impact problems for rigid bodies and is recommended for both applied mathematicians and engineers. Mathematical Reviews
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