Nonsmooth nonholonomic reduction for mechanical systems with collisions ∗
This paper studies nonsmooth variational problems on principal bundles for nonholonomic systems with collisions taking place in the boundary of the configuration space of the nonholonomic system. In particular, we first extend to a nonsmooth context appropriate for collisions the variational princip...
| Autores: | , |
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| Tipo de recurso: | artículo |
| Estado: | Versión aceptada para publicación |
| Fecha de publicación: | 2025 |
| País: | España |
| Institución: | Consejo Superior de Investigaciones Científicas (CSIC) |
| Repositorio: | DIGITAL.CSIC. Repositorio Institucional del CSIC |
| OAI Identifier: | oai:digital.csic.es:10261/421048 |
| Acceso en línea: | http://hdl.handle.net/10261/421048 |
| Access Level: | acceso abierto |
| Palabra clave: | Mechanics with collisions Nonsmooth implicit Lagrangian systems Lagrange–Poincare reduction Nonholonomic systems Symmetries |
| Sumario: | This paper studies nonsmooth variational problems on principal bundles for nonholonomic systems with collisions taking place in the boundary of the configuration space of the nonholonomic system. In particular, we first extend to a nonsmooth context appropriate for collisions the variational principle for nonholonomic implicit Lagrangian systems to obtain implicit Lagrange-d’Alembert-Pontryagin equations for nonholonomic systems with collisions. After introducing the notion of connection on a principal bundle, we consider Lagrange-Poincaré-Pointryagin reduction by symmetries for systems with collisions. |
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