Fields Institute Communications 1993; 280 pp Volume: 1 ISBN10: 0821892002 ISBN13: 9780821892008 List Price: US$106 Member Price: US$84.80 Order Code: FIC/1
 This book contains a collection of papers presented at the Fields Institute workshop, "The Falling Cat and Related Problems," held in March 1992. The theme of the workshop was the application of methods from geometric mechanics and mathematical control theory to problems in the dynamics and control of freely rotating systems of coupled rigid bodies and related nonholonomic mechanical systems. This book will prove useful in providing insight into this new and exciting area of research. Titles in this series are copublished with the Fields Institute for Research in Mathematical Sciences (Toronto, Ontario, Canada). Readership Applied mathematicians interested in control theory, geometric mechanics, dynamical systems, and differential geometry. Aerospace and mechanical engineers. Table of Contents  J. Baillieul  Stable average motions of mechanical systems subject to periodic forcing
 A. M. Bloch and P. E. Crouch  Nonholonomic and Vakanomic control systems on Riemannian manifolds
 O. I. Bogoyavlenskij  General integrable problems of classical mechanics
 M. J. Enos  On an optimal control problem on \(SO(3)\times SO(3)\) and the falling cat
 Z. Ge  On the cut points and conjugate points in a constrained variational problem
 M. Levi  A theorem of Poinsot, path ordered integrals, and parallel transport
 J. E. Marsden and J. Scheurle  The reduced EulerLagrange equations
 V. J. Modi  On the dynamics and control of the evolving space station "Freedom"
 R. Montgomery  Gauge theory of the falling cat
 R. M. Murray  Control of nonholonomic systems using chained form
 G. W. Patrick  A vectorizing momentum preserving symplectic integration algorithm
 T. A. Posbergh and R. Zhao  Stabilization of the uniform rotation of a rigid body by the energymomentum method
