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Geometric, Control and Numerical Aspects of Nonholonomic Systems

  • Book
  • © 2002

Overview

Authors:
  1. Jorge Cortés Monforte
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Part of the book series: Lecture Notes in Mathematics (LNM, volume 1793)

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Table of contents (10 chapters)

  1. Front Matter

    Pages I-XV
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  2. 1. Introduction

    • Jorge Cortés Monforte
    Pages 1-12

  3. 2. Basic geometric tools

    • Jorge Cortés Monforte
    Pages 13-37

  4. 3. Nonholonomic systems

    • Jorge Cortés Monforte
    Pages 39-61

  5. 4. Symmetries of nonholonomic systems

    • Jorge Cortés Monforte
    Pages 63-102

  6. 5. Chaplygin systems

    • Jorge Cortés Monforte
    Pages 103-120

  7. 6. A class of hybrid nonholonomic systems

    • Jorge Cortés Monforte
    Pages 121-140

  8. 7. Nonholonomic integrators

    • Jorge Cortés Monforte
    Pages 141-170

  9. 8. Control of mechanical systems

    • Jorge Cortés Monforte
    Pages 171-202

  10. References

    • Jorge Cortés Monforte
    Pages 203-216

  11. Index

    • Jorge Cortés Monforte
    Pages 217-219

  12. Back Matter

    Pages 203-224
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Keywords

About this book

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.

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