Overview
- Enriches your knowledge of all aspects of nonsmooth mechanics: mathematics; modelling; control; and stability
- Substantially rewritten, edited and updated, the new edition brings a classic reference right up to date
- Extensive bibliography of 1,100 entries is convenient for researchers
- Broadens your understanding of nonsmooth dynamical systems in general by providing links with impulsive ODEs, hybrid systems and electrical circuits
- Summarizes the latest studies on impact models
- Uses many detailed examples and figures to illustrate the main theoretical developments
- Includes supplementary material: sn.pub/extras
Part of the book series: Communications and Control Engineering (CCE)
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About this book
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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Keywords
- Complementarity Problems and Systems
- Convex Analysis and Complementarity Theory
- Hybrid Dynamical Systems
- Impact and Contact Mechanics
- Impulsive Systems
- Mechanical Systems with Constraints
- Moreau’s Sweeping Process and Variational Inequalities
- Multibody Multicontact Mechanical Systems
- Stability and Control of Non-smooth Lagrangian Systems
- Unilateral & Bilateral Constraints with or
- without Coulomb’s Friction
Table of contents (9 chapters)
Authors and Affiliations
About the author
Bibliographic Information
Book Title: Nonsmooth Mechanics
Book Subtitle: Models, Dynamics and Control
Authors: Bernard Brogliato
Series Title: Communications and Control Engineering
DOI: https://doi.org/10.1007/978-3-319-28664-8
Publisher: Springer Cham
eBook Packages: Engineering, Engineering (R0)
Copyright Information: Springer International Publishing Switzerland 2016
Hardcover ISBN: 978-3-319-28662-4Published: 14 March 2016
Softcover ISBN: 978-3-319-80401-9Published: 25 April 2018
eBook ISBN: 978-3-319-28664-8Published: 29 February 2016
Series ISSN: 0178-5354
Series E-ISSN: 2197-7119
Edition Number: 3
Number of Pages: XXI, 628
Number of Illustrations: 107 illustrations in colour
Additional Information: Originally published in 1996 as volume 220 in the series: Lecture Notes in Control and Information Sciences
Topics: Control and Systems Theory, Nanotechnology and Microengineering, Vibration, Dynamical Systems, Control, Systems Theory, Control