Now in its third edition, this standard reference is a comprehensive
treatment of nonsmooth mechanical systems refocused to give more
prominence to issues connected with control and modelling. It covers
Lagrangian and Newton-Euler systems, detailing mathematical tools such
as convex analysis and complementarity theory. The ways in which
nonsmooth mechanics influence and are influenced by well-posedness
analysis, numerical analysis and simulation, modelling and control are
explained. Contact/impact laws, stability theory and trajectory-tracking
control are given detailed exposition connected by a mathematical
framework formed from complementarity systems and measure-differential
inclusions. Links are established with electrical circuits with
set-valued nonsmooth elements as well as with other nonsmooth dynamical
systems like impulsive and piecewise linear systems.
Nonsmooth Mechanics (third edition) retains the topical structure
familiar from its predecessors but has been substantially rewritten,
edited and updated to account for the significant body of results that
have emerged in the twenty-first century-including developments in:
- the existence and uniqueness of solutions;
- impact models;
- extension of the Lagrange-Dirichlet theorem and trajectory tracking;
and
- well-posedness of contact complementarity problems with and without
friction.
Many figures (both new and redrawn to improve the clarity of the
presentation) and examples are used to illustrate the theoretical
developments. Material introducing the mathematics of nonsmooth
mechanics has been improved to reflect the broad range of applications
interest that has developed since publication of the second edition. The
detail of some mathematical essentials is provided in four appendices.
With its improved bibliography of over 1,300 references and wide-ranging
coverage, Nonsmooth Mechanics (third edition) is sure to be an
invaluable resource for researchers and postgraduates studying the
control of mechanical systems, robotics, granular matter and relevant
fields of applied mathematics.
"The book's two best features, in my view are its detailed survey of the
literature... and its detailed presentation of many examples
illustrating both the techniques and their limitations... For readers
interested in the field, this book will serve as an excellent
introductory survey."
Andrew Lewis in Automatica
"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."
Panagiotis D. Panagiotopoulos in Mathematical Reviews
"The presentation is excellent in combining rigorous mathematics with a
great number of examples... allowing the reader to understand the basic
concepts."
Hans Troger in Mathematical Abstracts
