01260nas a2200205 4500008004100000245003600041210003600077260002000113300001200133490000900145520070800154653002100862653001300883100001500896700001400911700001500925700001200940700001400952856008800966 2004 eng d00aDiscrete and Hybrid Nonholonomy0 aDiscrete and Hybrid Nonholonomy bSpringer-Verlag a157-1720 v29933 a
In this paper we consider the generalization of the classical notion of nonholonomy of smooth constraints in analytical mechanics, to a substantially wider set of systems, allowing for discrete and hybrid (mixed continuous and discrete) configurations and transitions. We show that the general notion of nonholonomy can be captured by the definition of two different types of nonholonomicbehaviours, which we call {\em internal}nd {\em external}, respectively. Examples are reported of systems exhibiting either the former only, or the latter only, or both. For some classes of systems, we provide equivalent or sufficient characterizations of such definitions, which allow for practical tests.
10aEmbedded Control10aRobotics1 aBicchi, A.1 aMarigo, A1 aPiccoli, B1 aAlur, R1 aPappas, G uhttp://www.centropiaggio.unipi.it/publications/discrete-and-hybrid-nonholonomy.html