Nonsmooth Mechanics: Models, Dynamics and Control, Edition 2

Name: Nonsmooth Mechanics: Models, Dynamics and Control, Edition 2
Rating: 5 (1 reviews)

Bernard Brogliato

Dec 2012 · Springer Science & Business Media

5.0

1 review

Ebook

552

Pages

Ratings and reviews aren’t verified Learn More

About this ebook

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.

Ratings and reviews

5.0

1 review

Xia Yang

May 10, 2024

yyhu

About the author

In addition to having served (1991 – 2001) as Chargé de Recherche at CNRS, and as, now, Directeur de Recherche at INRIA, Bernard Brogliato is an Associate Editor for Automatica (since 2001) a reviewer for Mathematical Reviews and writes book reviews for ASME Applied Mechanics Reviews. He has served on the organising and other committees of various European and international conferences sponsored by an assortment of organizations, most prominently, the IEEE. He has been responsible for examining the PhD and Habilitation theses of 16 students and takes an active part in lecturing at summer schools in several European countries. Doctor Brogliato is the director of SICONOS (a European project concerned with Modelling, Simulation and Control of Nonsmooth Dynamical Systems) which carries funding of €2 million.

Rate this ebook

Tell us what you think.

Reading information

Smartphones and tablets

Install the Google Play Books app for Android and iPad/iPhone. It syncs automatically with your account and allows you to read online or offline wherever you are.

Laptops and computers

You can listen to audiobooks purchased on Google Play using your computer's web browser.

eReaders and other devices

To read on e-ink devices like Kobo eReaders, you'll need to download a file and transfer it to your device. Follow the detailed Help Center instructions to transfer the files to supported eReaders.

Report illegal content