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© 1999

Nonsmooth Mechanics

Models, Dynamics and Control

Benefits

  • This monograph contains the latest research results in the area of impact problems for rigid bodies

  • It contains a complete overview of the main problems of interest in this field

  • This edition has been expanded to include new references and examples

Book

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

Introduction

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

Keywords

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

  1. 1.UMR CNRS 5528Domaine UniversitaireSaint Martin D’HèresFrance

About the authors

In addition to having served (1991 – 2001) as Chargé de Recherche at CNRS, and as, now, Directeur de Recherche at INRIA, Bernard Brogliato is an Associate Editor for Automatica (since 2001) a reviewer for Mathematical Reviews and writes book reviews for ASME Applied Mechanics Reviews. He has served on the organising and other committees of various European and international conferences sponsored by an assortment of organizations, most prominently, the IEEE. He has been responsible for examining the PhD and Habilitation theses of 16 students and takes an active part in lecturing at summer schools in several European countries. Doctor Brogliato is the director of SICONOS (a European project concerned with Modelling, Simulation and Control of Nonsmooth Dynamical Systems) which carries funding of €2 million.

Bibliographic information

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Reviews

From reviews for the first edition:

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 1998f (Reviewer: P.D. Panagiotopoulos)

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 (Reviewer: H. Troger)