Nonsmooth Mechanics

Models, Dynamics and Control

  • Bernard Brogliato

Part of the Communications and Control Engineering book series (CCE)

Table of contents

  1. Front Matter
    Pages i-xx
  2. Bernard Brogliato
    Pages 1-52
  3. Bernard Brogliato
    Pages 53-75
  4. Bernard Brogliato
    Pages 77-103
  5. Bernard Brogliato
    Pages 105-171
  6. Bernard Brogliato
    Pages 173-261
  7. Bernard Brogliato
    Pages 263-332
  8. Bernard Brogliato
    Pages 333-395
  9. Bernard Brogliato
    Pages 397-461
  10. Back Matter
    Pages 463-552

About this book


This significantly enlarged and expanded second edition focuses on a class of nonsmooth hybrid dynamical systems, namely finite-dimensional mechanical systems subject to unilateral constraints. It contains a complete overview of the main problems in mathematics, mechanics, stability and control which are of interest in this field. The following topics are discussed in detail and are illustrated with examples:

• shock dynamics;

• multiple impacts;

• feedback control;

• Moreau's sweeping process; and

• complementarity formulations.

With a comprehensive bibliography of over a thousand references, Nonsmooth Dynamics is an indispensable source of information on impact phenomena and rigid-body dynamics.

Praise for the first edition:

The presentation is excellent in combining rigorous mathematics with a great number of examples ranging from simple mechanical systems to robotic systems allowing the reader to understand the basic concepts.

Mathematical Abstracts

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.

Mathematical Reviews


Control Control Theory Impact Nonsmooth Mechanics Rigid Bodies Shock Dynamics Sobolev space Stability Unilateral Constraints calculus dynamische Systeme mechanics model numerical analysis robot

Authors and affiliations

  • Bernard Brogliato
    • 1
  1. 1.UMR CNRS 5528Domaine UniversitaireSaint Martin D’HèresFrance

Bibliographic information

  • DOI
  • Copyright Information Springer-Verlag London Limited 1999
  • Publisher Name Springer, London
  • eBook Packages Springer Book Archive
  • Print ISBN 978-1-4471-1161-0
  • Online ISBN 978-1-4471-0557-2
  • Series Print ISSN 0178-5354
  • Buy this book on publisher's site
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