Nonholonomic systems with inequality constraints

DOI10.1007/978-3-031-38299-4_11MaRDI QIDQ6138219zbMATH OpenFDO

Authors Alexandre Anahory Simoes, Leonardo Colombo

Publication date 16 January 2024

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

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

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)

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.

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Cites work

• Dynamical systems coupled with monotone set-valued operators: formalisms, applications, well-posedness, and stability
• Geometric control and numerical aspects of nonholonomic systems
• Geometric numerical integration of inequality constrained, nonsmooth Hamiltonian systems
• Mechanical systems subjected to generalized non-holonomic constraints
• Non-holonomic integrators
• 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.
• Nonsmooth Lagrangian Mechanics and Variational Collision Integrators
• On the geometry of non-holonomic Lagrangian systems

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