Nonholonomic Mechanics and Control

1R5. Nonholonomic Mechanics and Control. - AM Bloch (Dept of Math, Univ of Michigan, Ann Arbor MI 48109-1109). Springer-Verlag, New York. 2003. 483 pp. ISBN 0-387-95535-6. $69.95.Reviewed by B Brogliato (INRA, 655 Ave De L’Europe, Saint Ismier, 38334, France).This mathematically oriented book is dedicated to the modeling and control of a class of nonlinear mechanical systems, namely mechanical systems subject to nonholonomic (or non integrable) bilateral constraints. It is known that the control of such nonlinear systems requires specific tools, as they may not be stabilizable with continuous feedbacks, as a consequence of Brockett’s necessary conditions. Such problems have received considerable attention in…