Communications and Control Engineering

Nonsmooth Mechanics

Models, Dynamics and Control

Authors: Brogliato, Bernard

  • 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
see more benefits

Buy this book

eBook $179.00
price for USA (gross)
  • ISBN 978-3-319-28664-8
  • Digitally watermarked, DRM-free
  • Included format: EPUB, PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $229.00
price for USA
  • ISBN 978-3-319-28662-4
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
About this book

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

<

About the authors

Bernard Brogliato is Senior Researcher at INRIA Grenoble, France, where he founded and leads the team BIPOP. He published more than 70 journal articles in the fields of systems and Control, Solid Mechanics, and Applied Mathematics, as well as 5 monographs. His research interests are in non-smooth dynamical systems (mechanical systems with constraints, impacts, friction, electrical circuits with non-smooth components, sliding-mode control, optimal control with state constraints), and dissipative systems. He was an Associate Editor for Automatica, and the chairman of two Euromech Colloquia dedicated to Impact Mechanics. He coordinated the FP5 European project SICONOS (2 million euros fundings, 13 partners), and two projects funded by the French National Agency for Scientific Research, on multiple impacts and discrete-time sliding mode control.

Table of contents (8 chapters)

  • Impulsive Dynamics and Measure Differential Equations

    Brogliato, Bernard

    Pages 1-49

  • Viscoelastic Contact/Impact Rheological Models

    Brogliato, Bernard

    Pages 51-93

  • Variational Principles

    Brogliato, Bernard

    Pages 95-125

  • Two Rigid Bodies Colliding

    Brogliato, Bernard

    Pages 127-240

  • Nonsmooth Lagrangian Systems

    Brogliato, Bernard

    Pages 241-370

Buy this book

eBook $179.00
price for USA (gross)
  • ISBN 978-3-319-28664-8
  • Digitally watermarked, DRM-free
  • Included format: EPUB, PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $229.00
price for USA
  • ISBN 978-3-319-28662-4
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Loading...

Recommended for you

Loading...

Bibliographic Information

Bibliographic Information
Book Title
Nonsmooth Mechanics
Book Subtitle
Models, Dynamics and Control
Authors
Series Title
Communications and Control Engineering
Copyright
2016
Publisher
Springer International Publishing
Copyright Holder
Springer International Publishing Switzerland
eBook ISBN
978-3-319-28664-8
DOI
10.1007/978-3-319-28664-8
Hardcover ISBN
978-3-319-28662-4
Series ISSN
0178-5354
Edition Number
3
Number of Pages
XXI, 628
Number of Illustrations and Tables
107 illustrations in colour
Additional Information
Originally published in 1996 as volume 220 in the series: Lecture Notes in Control and Information Sciences
Topics