Nonsmooth mechanics: models, dynamics and control
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
London [u.a.]
Springer
1999
|
| Ausgabe: | 2. ed. |
| Schriftenreihe: | Communications and control engineering
|
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | XX, 552 S. graph. Darst. |
| ISBN: | 1852331437 |
Internformat
MARC
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| 100 | 1 | |a Brogliato, Bernard |e Verfasser |4 aut | |
| 245 | 1 | 0 | |a Nonsmooth mechanics |b models, dynamics and control |c Bernard Brogliato |
| 250 | |a 2. ed. | ||
| 264 | 1 | |a London [u.a.] |b Springer |c 1999 | |
| 300 | |a XX, 552 S. |b graph. Darst. | ||
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| 490 | 0 | |a Communications and control engineering | |
| 650 | 4 | |a Impact | |
| 650 | 4 | |a Shock (Mechanics) | |
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Datensatz im Suchindex
| _version_ | 1804127161564528640 |
|---|---|
| adam_text | R BERNARD BROGLIATO NONSMOOTH MECHANICS MODELS, DYNAMICS AND CONTROL
SECOND EDITION WITH 84 FIGURES SPRINGER CONTENTS 1 DISTRIBUTIONAL MODEL
OF IMPACTS 1 1.1 EXTERNAL PERCUSSIONS 1 1.2 MEASURE DIFFERENTIAL
EQUATIONS 8 1.2.1 SOME PROPERTIES 8 1.2.2 ADDITIONAL COMMENTS 13 1.3
SYSTEMS SUBJECT TO UNILATERAL CONSTRAINTS 19 1.3.1 GENERAL
CONSIDERATIONS 19 1.3.2 FLOWS WITH COLLISIONS 26 1.3.3 A SYSTEM
THEORETICAL GEOMETRIC APPROACH 33 1.3.4 DESCRIPTOR VARIABLE SYSTEMS 37
1.4 CHANGES OF COORDINATES IN MDES 41 1.4.1 FROM MEASURE TO CARATHEODORY
SYSTEMS 42 1.4.2 DECOUPLING OF THE IMPULSIVE EFFECTS (COMMUTATIVITY
CONDITIONS) 45 1.4.3 FROM MEASURE TO FILIPPOV S DIFFERENTIAL EQUATIONS:
THE ZHURAVLEV-IVANOV METHOD 47 2 APPROXIMATING PROBLEMS 53 2.1 SIMPLE
EXAMPLES 54 2.1.1 FROM ELASTIC TO HARD IMPACT 55 2.1.2 FROM DAMPED TO
PLASTIC IMPACT 57 2.1.3 THE GENERAL CASE 58 2.2 THE METHOD OF PENALIZING
FUNCTIONS 63 2.2.1 THE ELASTIC REBOUND CASE 64 2.2.2 A MORE GENERAL CASE
65 2.2.3 UNIQUENESS OF SOLUTIONS 69 XVI CONTENTS 3 VARIATIONAL
PRINCIPLES 77 3.1 VIRTUAL DISPLACEMENTS PRINCIPLE 77 3.2 GAUSS
PRINCIPLE 81 3.2.1 ADDITIONAL COMMENTS AND STUDIES 83 3.3 LAGRANGE S
EQUATIONS 84 3.4 EXTERNAL IMPULSIVE FORCES 85 3.4.1 EXAMPLE: FLEXIBLE
JOINT MANIPULATORS 85 3.5 HAMILTON S PRINCIPLE AND UNILATERAL
CONSTRAINTS 87 3.5.1 INTRODUCTION 87 3.5.2 MODIFIED SET OF CURVES 91
3.5.3 MODIFIED LAGRANGIAN FUNCTION 95 3.5.4 ADDITIONAL COMMENTS AND
STUDIES 99 4 TWO BODIES COLLIDING 105 4.1 DYNAMICAL EQUATIONS OF TWO
RIGID BODIES COLLIDING 105 4.1.1 GENERAL CONSIDERATIONS 105 4.1.2
RELATIONSHIPS BETWEEN REAL-WORLD AND GENERALIZED NORMAL DI- RECTIONS ILL
4.1.3 DYNAMICAL EQUATIONS AT COLLISION TIMES 112 4.1.4 THE PERCUSSION
CENTER 116 4.2 PERCUSSION LAWS 117 4.2.1 OBLIQUE PERCUSSIONS WITH
FRICTION BETWEEN TWO BODIES 122 4.2.2 RIGID BODY FORMULATION: BRACH S
METHOD 123 4.2.3 ADDITIONAL COMMENTS AND STUDIES 130 4.2.4 RIGID BODY
FORMULATION: FREMOND S APPROACH 135 4.2.5 DYNAMICAL EQUATIONS DURING THE
COLLISION PROCESS: DARBOUX- KELLER S SHOCK EQUATIONS 137 4.2.6 STRONGE S
ENERGETICAL COEFFICIENT 146 4.2.7 3 DIMENSIONAL SHOCKS- IVANOV S
ENERGETICAL COEFFICIENT 155 4.2.8 A THIRD ENERGETICAL COEFFICIENT 156
4.2.9 ADDITIONAL COMMENTS AND STUDIES 157 4.2.10 MULTIPLE
MICRO-COLLISIONS PHENOMENON: TOWARDS A GLOBAL COEF- FICIENT 159 4.2.11
CONCLUSION 165 CONTENTS XVII 4.2.12 THE THOMSON AND TAIT FORMULA 166
4.2.13 GRAPHICAL ANALYSIS OF SHOCK DYNAMICS 168 4.2.14 IMPACTS IN
FLEXIBLE STRUCTURES 171 5 MULTICONSTRAINT NONSMOOTH DYNAMICS 173 5.1
INTRODUCTION. DELASSUS PROBLEM 173 5.2 MULTIPLE IMPACTS: THE STRIKING
BALLS EXAMPLES 180 5.3 MOREAU S SWEEPING PROCESS 189 5.3.1 GENERAL
FORMULATION 189 5.3.2 APPLICATION TO MECHANICAL SYSTEMS 190 5.3.3
EXISTENTIAL RESULTS 200 5.3.4 SHOCKS WITH FRICTION 205 5.4
COMPLEMENTARITY FORMULATIONS 211 5.4.1 GENERAL INTRODUCTION TO LCPS AND
SIGNORINI S CONDITIONS . . .211 5.4.2 LINEAR COMPLEMENTARITY PROBLEMS
215 5.4.3 RELATIONSHIPS WITH QUADRATIC PROBLEMS 218 5.4.4 LINEAR
COMPLEMENTARITY SYSTEMS 219 5.4.5 ADDITIONAL COMMENTS AND STUDIES 222
5.5 THE PAINLEVE S EXAMPLE 228 5.5.1 LECORNU S FRICTIONAL CATASTROPHES
241 5.5.2 CONCLUSIONS 244 5.5.3 ADDITIONAL COMMENTS AND BIBLIOGRAPHY 245
5.6 NUMERICAL ANALYSIS 250 5.6.1 GENERAL COMMENTS 250 M 5.6.2
INTEGRATION OF PENALIZED PROBLEMS 252 5.6.3 SPECIFIC NUMERICAL
ALGORITHMS 254 GENERALIZED IMPACTS 263 6.1 THE FRICTIONLESS CASE 264
6.1.1 ABOUT COMPLETE NEWTON S RULES 264 6.2 THE USE OF THE KINETIC
METRIC 266 6.2.1 THE KINETIC ENERGY LOSS AT IMPACT 269 6.3 SIMPLE
GENERALIZED IMPACTS 272 6.3.1 2-DIMENSIONAL LAMINA STRIKING A PLANE 272
XVIII CONTENTS 6.3.2 SHOCK OF A PARTICLE AGAINST A PENDULUM 282 6.4
MULTIPLE GENERALIZED IMPACTS 284 6.4.1 THE ROCKING BLOCK PROBLEM 284 6.5
GENERAL RESTITUTION RULES FOR MULTIPLE IMPACTS 291 6.5.1 INTRODUCTION
291 6.5.2 THE ROCKING BLOCK EXAMPLE CONTINUED 294 6.5.3 ADDITIONAL
COMMENTS AND STUDIES 296 6.5.4 3-BALLS EXAMPLE CONTINUED 300 6.5.5
2-BALLS 308 6.5.6 ADDITIONAL COMMENTS AND STUDIES 309 6.5.7 SUMMARY OF
THE MAIN IDEAS 313 6.5.8 COLLISIONS NEAR SINGULARITIES: ADDITIONAL
COMMENTS 314 6.6 CONSTRAINTS WITH AMONTONS-COULOMB FRICTION 325 6.6.1
LAMINA WITH FRICTION 326 6.7 ADDITIONAL COMMENTS AND STUDIES 331 7
STABILITY OF NONSMOOTH DYNAMICAL SYSTEMS 333 7.1 GENERAL STABILITY
CONCEPTS 333 7.1.1 STABILITY OF MEASURE DIFFERENTIAL EQUATIONS 333 7.1.2
STABILITY OF MECHANICAL SYSTEMS WITH UNILATERAL CONSTRAINTS . . 339
7.1.3 PASSIVITY OF THE COLLISION MAPPING 343 7.1.4 STABILITY OF THE
DISCRETE DYNAMIC EQUATIONS 345 7.1.5 IMPACT OSCILLATORS 349 7.1.6
CONCLUSIONS 368 7.2 GRAZING OR C-BIFURCATIONS 369 7.2.1 THE STROBOSCOPIC
POINCARE MAP DISCONTINUITIES 371 7.2.2 THE STROBOSCOPIC POINCARE MAP
AROUND GRAZING-MOTIONS .... 376 7.2.3 FURTHER COMMENTS AND STUDIES 378
7.3 STABILITY: FROM COMPLIANT TO RIGID MODELS 380 7.3.1 SYSTEM S
DYNAMICS 382 7.3.2 LYAPUNOV STABILITY ANALYSIS 384 7.3.3 ANALYSIS OF
QUADRATIC STABILITY CONDITIONS FOR LARGE STIFFNESS VALUES 385 7.3.4 A
STIFFNESS INDEPENDENT CONVERGENCE ANALYSIS 389 WONTENTS XIX FEEDBACK
CONTROL 397 8.1 CONTROLLABILITY PROPERTIES 397 8.2 CONTROL OF COMPLETE
ROBOTIC TASKS 400 8.2.1 EXPERIMENTAL CONTROL OF THE TRANSITION PHASE 401
8.2.2 THE GENERAL CONTROL PROBLEM 404 8.3 DYNAMIC MODEL 406 8.3.1 A
GENERAL FORM OF THE DYNAMICAL SYSTEM 406 I* 8.3.2 THE CLOSED-LOOP
FORMULATION OF THE DYNAMICS 408 8.3.3 DEFINITION OF THE SOLUTIONS 410
8.4 STABILITY ANALYSIS FRAMEWORK 411 8.5 A ONE DEGREE-OF-FREEDOM EXAMPLE
421 8.5.1 STATIC STATE FEEDBACK (WEAKLY STABLE TASK) 422 8.5.2 TOWARDS A
STRONGLY STABLE CLOSED-LOOP SCHEME 424 8.5.3 DYNAMIC STATE FEEDBACK 431
8.6 N DEGREE-OF-FREEDOM RIGID MANIPULATORS 435 *** 8.6.1 INTEGRABLE
TRANSFORMED VELOCITIES 435 8.6.2 EXAMPLES 439 8.6.3 NON-INTEGRABLE
TRANSFORMED VELOCITIES: GENERAL CASE 440 8.6.4 NON-INTEGRABLE
TRANSFORMED VELOCITIES: A STRONGLY STABLE SCHEME444 8.7
COMPLEMENTARY-SLACKNESS JUGGLING SYSTEMS 448 8.7.1 SOME EXAMPLES 449
8.7.2 SOME CONTROLLABILITY PROPERTIES 451 8.7.3 CONTROL DESIGN 453 8.7.4
FURTHER COMMENTS 455 8.8 SYSTEMS WITH DYNAMIC BACKLASH 456 8.9 BIPEDAL
LOCOMOTION 460 SCHWARTZ DISTRIBUTIONS 463 A.I THE FUNCTIONAL APPROACH
463 A.2 THE SEQUENTIAL APPROACH 464 A.3 NOTIONS OF CONVERGENCE 467
MEASURES AND INTEGRALS 469 XX CONTENTS C FUNCTIONS OF BOUNDED VARIATION
IN TIME 477 C.I DEFINITION AND GENERALITIES 477 C.2 SPACES OF FUNCTIONS
OF BOUNDED VARIATION 478 C.3 SOBOLEV SPACES 479 D ELEMENTS OF CONVEX
ANALYSIS 481 BIBLIOGRAPHY 491 INDEX 547
|
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| illustrated | Illustrated |
| indexdate | 2024-07-09T18:28:57Z |
| institution | BVB |
| isbn | 1852331437 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-008497105 |
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| physical | XX, 552 S. graph. Darst. |
| publishDate | 1999 |
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| series2 | Communications and control engineering |
| spelling | Brogliato, Bernard Verfasser aut Nonsmooth mechanics models, dynamics and control Bernard Brogliato 2. ed. London [u.a.] Springer 1999 XX, 552 S. graph. Darst. txt rdacontent n rdamedia nc rdacarrier Communications and control engineering Impact Shock (Mechanics) Stoß (DE-588)4124258-0 gnd rswk-swf Nichtglatte Mechanik (DE-588)4201235-1 gnd rswk-swf Stoß (DE-588)4124258-0 s Nichtglatte Mechanik (DE-588)4201235-1 s DE-604 HEBIS Datenaustausch Darmstadt application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=008497105&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Brogliato, Bernard Nonsmooth mechanics models, dynamics and control Impact Shock (Mechanics) Stoß (DE-588)4124258-0 gnd Nichtglatte Mechanik (DE-588)4201235-1 gnd |
| subject_GND | (DE-588)4124258-0 (DE-588)4201235-1 |
| title | Nonsmooth mechanics models, dynamics and control |
| title_auth | Nonsmooth mechanics models, dynamics and control |
| title_exact_search | Nonsmooth mechanics models, dynamics and control |
| title_full | Nonsmooth mechanics models, dynamics and control Bernard Brogliato |
| title_fullStr | Nonsmooth mechanics models, dynamics and control Bernard Brogliato |
| title_full_unstemmed | Nonsmooth mechanics models, dynamics and control Bernard Brogliato |
| title_short | Nonsmooth mechanics |
| title_sort | nonsmooth mechanics models dynamics and control |
| title_sub | models, dynamics and control |
| topic | Impact Shock (Mechanics) Stoß (DE-588)4124258-0 gnd Nichtglatte Mechanik (DE-588)4201235-1 gnd |
| topic_facet | Impact Shock (Mechanics) Stoß Nichtglatte Mechanik |
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