Implicit Nonholonomic Mechanics with Collisions
In this paper, variational techniques are used to analyze the dynamics of nonholonomic mechanical systems with impacts. Implicit nonholonomic smooth Lagrangian and Hamiltonian systems are extended to a nonsmooth context appropriate for collisions. In particular, we provide a variational formulation...
| Autores: | , |
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| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2024 |
| País: | España |
| Institución: | Consejo Superior de Investigaciones Científicas (CSIC) |
| Repositorio: | DIGITAL.CSIC. Repositorio Institucional del CSIC |
| OAI Identifier: | oai:dnet:digitalcsic_::0c75a7d657dec73fbe9ecb630c6392bc |
| Acceso en línea: | http://hdl.handle.net/10261/425787 |
| Access Level: | acceso abierto |
| Palabra clave: | Implicit Lagrangian systems Implicit Hamiltonian systems Nonholonomic systems Lagrange-d’Alembert-Pontryagin principle |
| Sumario: | In this paper, variational techniques are used to analyze the dynamics of nonholonomic mechanical systems with impacts. Implicit nonholonomic smooth Lagrangian and Hamiltonian systems are extended to a nonsmooth context appropriate for collisions. In particular, we provide a variational formulation for implicit nonholonomic mechanical systems with collisions, for those collisions that preserve energy and momentum at the impact. Lastly, the theoretical results are illustrated by examining the example of a rolling disk hitting a wall. |
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