Nonholonomic systems with inequality constraints

DOI10.1007/978-3-031-38299-4_11arXiv2302.02616MaRDI QIDQ6138219FDOQ6138219

Authors: Alexandre Anahory Simoes, Leonardo Colombo 

Publication date: 16 January 2024

Published in: Lecture Notes in Computer Science (Search for Journal in Brave)

Abstract: In this paper we derive the equations of motion for nonholonomic systems subject to inequality constraints, both, in continuous-time and discrete-time. The last is done by discretizing the continuous time-variational principle which defined the equations of motion for a nonholonomic system subject to inequality constraints. An example is show to illustrate the theoretical results.

Full work available at URL: https://arxiv.org/abs/2302.02616

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zbMATH Keywords

variational integratorcontinuous-time formulationdiscrete-time formulationtime-variational principle

Mathematics Subject Classification ID

Nonholonomic systems related to the dynamics of a system of particles (70F25) Variational methods for problems in mechanics (70G75) Computational methods for problems pertaining to mechanics of particles and systems (70-08)

Cites Work

• Nonholonomic mechanics and control. With the collaboration of J. Baillieul, P. Crouch, and J. Marsden. With scientific input from P. S. Krishnaprasad, R. M. Murray, and D. Zenkov.
• Non-holonomic integrators
• Nonsmooth Lagrangian Mechanics and Variational Collision Integrators
• Geometric control and numerical aspects of nonholonomic systems
• On the geometry of non-holonomic Lagrangian systems
• Mechanical systems subjected to generalized non-holonomic constraints
• Geometric numerical integration of inequality constrained, nonsmooth Hamiltonian systems
• Dynamical systems coupled with monotone set-valued operators: formalisms, applications, well-posedness, and stability

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