Nonsmooth Mechanics: Models, Dynamics and Control

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

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.