Nonsmooth Mechanics: Models, Dynamics and Control

Bernard Brogliato 1
1 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann, INPG - Institut National Polytechnique de Grenoble
Abstract : This book is devoted to the study of a class of nonsmooth dynamical systems of the general form: $$ \begin{align} &\dot{x}(t)=g(x(t),u)\\ &f(x,t)\geq 0 \end{align} $$ where $x(t)\in \mathbb{R}^n$ is the system’s state vector, $u \in\mathbb{R}^{n_u}$ is the vector of inputs, and the function $f$ represents a set of $m_u$ unilateral constraints which are imposed on the system.
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https://hal.inria.fr/hal-01236953
Contributor : Bernard Brogliato <>
Submitted on : Wednesday, December 2, 2015 - 2:07:34 PM
Last modification on : Tuesday, February 5, 2019 - 1:38:02 PM

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Bernard Brogliato. Nonsmooth Mechanics: Models, Dynamics and Control. Springer International Publishing Switzerland; Communications and Control Engineering, 2016, 978-3-319-28662-4. ⟨10.1007/978-3-319-28664-8⟩. ⟨hal-01236953⟩

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