Nonholonomic mechanics and control. With the collaboration of J. Baillieul, P. E Crouch, J. E. Marsden and D. Zenkov. With scientific input from P. S. Krishnaprasad and R. M. Murray (Q2353888)

The present book considers the connections between control theory and geometric mechanics which consist because of the fact that control theory is linked with a geometric view of classical mechanics in both Lagrangian and Hamiltonian formulations, and in particular with the theory of mechanical systems subject to motion constraints. The second edition of the book is organized in the same manner as the first one [Interdisciplinary Applied Mathematics 24. New York, NY: Springer (2003; Zbl 1045.70001)]. The first four chapters offer preliminaries and background formulations, while the remaining five are dedicated to nonholonomic mechanics, control and stabilization, optimal control, and energy-based techniques for mechanical and nonholonomic systems. The second edition extends the first one to incorporate new research and more historical background. Work on Hamel equations and quasivelocities, discrete dynamics, both holonomic and nonholonomic, Hamiltonization, and the Hamilton-Jacobi equation is included in the additional material. New examples and exercises are also added. As a nice learning tool, the book is intended for graduate students, Ph.D. students, scientists and engineers in academia and industry.