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Implicit Nonholonomic Mechanics with Collisions. 8th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2024

dc.contributor.authorRodríguez Abella, Álvaroes-ES
dc.contributor.authorColombo, Leonardo J.es-ES
dc.date.accessioned2026-05-18T14:07:26Z
dc.date.available2026-05-18T14:07:26Z
dc.date.issued2024-06-01es_ES
dc.identifier.issn2405-8971es_ES
dc.identifier.urihttps://doi.org/10.1016/j.ifacol.2024.08.259es_ES
dc.descriptionArtículos en revistases_ES
dc.description.abstract.es-ES
dc.description.abstractIn 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.en-GB
dc.format.mimetypeapplication/pdfes_ES
dc.language.isoes-ESes_ES
dc.rightsCreative Commons Reconocimiento-NoComercial-SinObraDerivada Españaes_ES
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/es_ES
dc.sourceRevista: IFAC-PapersOnLine, Periodo: 1, Volumen: 58, Número: 6, Página inicial: 71, Página final: 76es_ES
dc.titleImplicit Nonholonomic Mechanics with Collisions. 8th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2024es_ES
dc.typeinfo:eu-repo/semantics/articlees_ES
dc.description.versioninfo:eu-repo/semantics/publishedVersiones_ES
dc.rights.holderes_ES
dc.rights.accessRightsinfo:eu-repo/semantics/openAccesses_ES
dc.keywords.es-ES
dc.keywordsImplicit Lagrangian systems Implicit Hamiltonian systems Nonholonomic systems Lagrange-d’Alembert-Pontryagin principle Collision dynamicsen-GB


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Creative Commons Reconocimiento-NoComercial-SinObraDerivada España
Except where otherwise noted, this item's license is described as Creative Commons Reconocimiento-NoComercial-SinObraDerivada España