Nonholonomic Motion Of Rigid Mechanical Systems From A Dae Viewpoint
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Nonholonomic Motion of Rigid Mechanical Systems from a DAE Viewpoint
Several issues are investigated in depth to provide a sound and complete justification of the DAE model. These issues include the development of a generalized Gauss principle of least constraint, a study of the effect of the failure of an important full-rank condition, and a precise characterization of the state spaces. In particular, when the mentioned full-rank condition is not satisfied, this book shows how a new set of equivalent constraints can be constructed in a completely intrinsic way, where, in general, these new constraints comply with the full-rank requirement.
Nonholonomic Motion of Rigid Mechanical Systems from a DAE Viewpoint
Focuses on rigid body systems subjected to kinematic constraints and discusses in detail how the equations of motion are developed. The authors show that such motions can be modeled in terms of differential algebraic equations (DAEs), provided only that the correct variables are introduced.
Nonholonomic Mechanics and Control
This book explores connections between control theory and geometric mechanics. The author links control theory with a geometric view of classical mechanics in both its Lagrangian and Hamiltonian formulations, and in particular with the theory of mechanical systems subject to motion constraints. The synthesis is appropriate as there is a rich connection between mechanics and nonlinear control theory. The book provides a unified treatment of nonlinear control theory and constrained mechanical systems that incorporates material not available in other recent texts. The book benefits graduate students and researchers in the area who want to enhance their understanding and enhance their techniques.