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http://hdl.handle.net/11531/110124| Título : | Implicit Nonholonomic Mechanics with Collisions. 8th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2024 |
| Autor : | Rodríguez Abella, Álvaro Colombo, Leonardo J. |
| Fecha de publicación : | 1-jun-2024 |
| Resumen : | . 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. |
| Descripción : | Artículos en revistas |
| URI : | https://doi.org/10.1016/j.ifacol.2024.08.259 |
| ISSN : | 2405-8971 |
| Aparece en las colecciones: | Artículos |
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| Fichero | Tamaño | Formato | |
|---|---|---|---|
| Implicit Nonholonomic Mechanics with.pdf | 490,91 kB | Adobe PDF | Visualizar/Abrir |
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