Bernard Brogliato

Nonsmooth Mechanics

Models, Dynamics and Control

• Broschiertes Buch

Produktbeschreibung

Now in its third edition, this standard reference is a comprehensive treatment of nonsmooth mechanical systems refocused to give more prominence to issues connected with control and modelling. It covers Lagrangian and Newton-Euler systems, detailing mathematical tools such as convex analysis and complementarity theory. The ways in which nonsmooth mechanics influence and are influenced by well-posedness analysis, numerical analysis and simulation, modelling and control are explained. Contact/impact laws, stability theory and trajectory-tracking control are given detailed exposition connected by a mathematical framework formed from complementarity systems and measure-differential inclusions. Links are established with electrical circuits with set-valued nonsmooth elements as well as with other nonsmooth dynamical systems like impulsive and piecewise linear systems.
Nonsmooth Mechanics (third edition) retains the topical structure familiar from its predecessors but has been substantially rewritten, edited and updated to account for the significant body of results that have emerged in the twenty-first century-including developments in:
the existence and uniqueness of solutions;
impact models;
extension of the Lagrange-Dirichlet theorem and trajectory tracking; and
well-posedness of contact complementarity problems with and without friction.

Many figures (both new and redrawn to improve the clarity of the presentation) and examples are used to illustrate the theoretical developments. Material introducing the mathematics of nonsmooth mechanics has been improved to reflect the broad range of applications interest that has developed since publication of the second edition. The detail of some mathematical essentials is provided in four appendices.
With its improved bibliography of over 1,300 references and wide-ranging coverage, Nonsmooth Mechanics (third edition) is sure to be an invaluable resource for researchers and postgraduates studying the control of mechanical systems, robotics, granular matter and relevant fields of applied mathematics.

"The book's two best features, in my view are its detailed survey of the literature... and its detailed presentation of many examples illustrating both the techniques and their limitations... For readers interested in the field, this book will serve as an excellent introductory survey."

Andrew Lewis in Automatica

"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."

Panagiotis D. Panagiotopoulos in Mathematical Reviews

"The presentation is excellent in combining rigorous mathematics with a great number of examples... allowing the reader to understand the basic concepts."

Hans Troger in Mathematical Abstracts
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Produktdetails

• Communications and Control Engineering
• Verlag: Springer / Springer International Publishing / Springer, Berlin
• Artikelnr. des Verlages: 978-3-319-80401-9
• 3. Aufl.
• Seitenzahl: 668
• Erscheinungstermin: 25. April 2018
• Englisch
• Abmessung: 235mm x 155mm x 36mm
• Gewicht: 996g
• ISBN-13: 9783319804019
• ISBN-10: 3319804014
• Artikelnr.: 53572771

Autorenporträt

Bernard Brogliato was born in 1963, graduated from Ecole Normale Supérieure de Cachan (France), Mechanical Engineering Dept., Ph.D. and Habilitation degree in Automatic Control from Grenoble Institute of Technology ¿in 1991¿and 1995 respectively. He is Senior Researcher at INRIA Grenoble Rhône-Alpes. Research interests: non-smooth dynamical systems (analysis, control and observation, numerics), impact and contact mechanics, digital sliding-mode control. Wrote about 90 articles in international journals in the fields of Systems and Control, Mechanical Engineering, and Applied Mathematics. Also authored and co-authored five monographs. He was Associate Editor for Automatica (1999-2008), is Associate Editor for Nonlinear Analysis Hybrid Systems, and ASME Journal of Computational and Nonlinear Dynamics. Rogelio Lozano was born in Monterrey Mexico, on July 12, 1954. He received the B.S. degree in electronic engineering fromthe National Polytechnic Institute of Mexico in 1975, the M.S. degree in electrical engineering from Centro de Investigación y de Estudios Avanzados (CINVESTAV), Mexico in 1977, and the Ph.D. degree in automatic control from Laboratoire d'Automatique de Grenoble, France, in 1981. He joined the Department of Electrical Engineering at CINVESTAV, Mexico, in 1981 where he worked until 1989. He was Head of the Section of Automatic Control from June 1985 to August 1987. He has held visiting positions at the University of Newcastle, Australia, from November 1983 to November 1984, NASA Langley Research Center VA, from August 1987 to August 1988, and Laboratoire d'Automatique de Grenoble, France, from February 1989 to July 1990. Since 1990 he is a CNRS (Centre National de la Recherche Scientifique) Research Director at University of Technology of Compiègne, France. He was Associate Editor of Automatica in the period 1987-2000. He is associate Editor of the Journal of Intelligentand Robotics Systems since 2012 and Associate Editor in the Int. J. of Adaptive Control and Signal Processing since 1988. Bernhard Maschke is Professor of Automatic Control of the University Claude Bernard of Lyon, Villeurbanne, France since 2000. The main streamline of his research is the nonlinear and passivity-based control of complex physical systems. He is one of the main initiators of the Port Hamiltonian formalism which bases the modelling, simulation and control of complex physical systems on network theory and thermodynamic theory. He has used this formalism for complex spatial mechanisms and in the mechatronic context of automotive applications and more recently to chemical enginneering processes and various multi-physics and multi-scale systems such as an adsorption process, a fuel cell or an Ion Polymer Metal Composite. Olav Egeland is a graduate of the Norwegian University of Science and Technology (NTNU), where he is professor of production automation. He was at Marine Cybernetics AS 2004-2011 as co-founder. He has received the Automatica Prize Paper Award and the Outstanding Paper Award of IEEE Trans. Control Systems Technology, and has been Associate Editor of IEEE Trans. Automatic Control and European Journal of Control. His research is on modelling, simulation and control of mechanical systems with applications to robotics and offshore systems.

Inhaltsangabe

Impulsive Dynamics and Measure Differential Equations.- Visco-Elastic Contact/Impact Models.- Variational Principles.- Two-Body Collisions and Restitution Rules. Lagrangian Complementarity Systems.- Generalized and Multiple Impacts.- Lyapunov Stability.- Trajectory Tracking.- Appendices: Schwartz Distributions; Measures and Integrals; Functions of Bounded Variation in Time. Elements of Convex Analysis.

Rezensionen

From reviews for the first edition: 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 1998f (Reviewer: P.D. Panagiotopoulos) 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 (Reviewer: H. Troger)