Rodríguez Abella, Álvaro Colombo, Leonardo J. 2026-05-18T14:07:26Z 2026-05-18T14:07:26Z 2024-06-01 2405-8971 https://doi.org/10.1016/j.ifacol.2024.08.259 Artículos en revistas . 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. application/pdf es-ES Creative Commons Reconocimiento-NoComercial-SinObraDerivada España http://creativecommons.org/licenses/by-nc-nd/3.0/es/ Revista: IFAC-PapersOnLine, Periodo: 1, Volumen: 58, Número: 6, Página inicial: 71, Página final: 76 Implicit Nonholonomic Mechanics with Collisions. 8th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2024 info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion info:eu-repo/semantics/openAccess . Implicit Lagrangian systems Implicit Hamiltonian systems Nonholonomic systems Lagrange-d’Alembert-Pontryagin principle Collision dynamics