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Nonsmooth Impact Mechanics

Models, Dynamics and Control

  • Book
  • © 1996

Overview

Authors:
  1. Bernard Brogliato
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Part of the book series: Lecture Notes in Control and Information Sciences (LNCIS, volume 220)

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Table of contents (8 chapters)

  1. Front Matter

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  2. Distributional model of impacts

    Pages 1-42

  3. Approximating problems

    Pages 43-62

  4. Variational principles

    Pages 63-79

  5. Two bodies colliding

    Pages 81-116

  6. Multiconstraint nonsmooth dynamics

    Pages 117-166

  7. Generalized impacts

    Pages 167-221

  8. Stability of solutions of impacting systems

    Pages 223-267

  9. Feedback control

    Pages 269-334

  10. Back Matter

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Keywords

About this book

The field of nonsmooth impact dynamics and its applications to the control of robotic systems is examined in this monograph. The mathematical foundations of the dynamics of systems of rigid bodies submitted to a set of unilateral constraints are introduced. Following on from this the macroscopic physical laws of shocks (restitution roles) are described and commented on. In view of the applications to feedback control, stability properties of trajectories of various types of measure differential equations are reviewed. This includes a general stability analysis framework suitable for a class of impacting robotic systems performing complete tasks. Finally, feedback control of manipulators subject to unilateral constraints (which consist of a class of hybrid systems) is studied.

Bibliographic Information

  • Book Title: Nonsmooth Impact Mechanics

  • Book Subtitle: Models, Dynamics and Control

  • Authors: Bernard Brogliato

  • Series Title: Lecture Notes in Control and Information Sciences

  • DOI: https://doi.org/10.1007/BFb0027733

  • Publisher: Springer Berlin, Heidelberg

  • eBook Packages: Springer Book Archive

  • Copyright Information: Springer-Verlag London 1996

  • eBook ISBN: 978-3-540-70681-6Published: 19 November 2005

  • Series ISSN: 0170-8643

  • Series E-ISSN: 1610-7411

  • Edition Number: 1

  • Number of Pages: XV, 402

  • Number of Illustrations: 4 b/w illustrations

  • Topics: Control, Robotics, Mechatronics

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