TY - CONF T1 - Discrete and Hybrid Nonholonomy T2 - Hybrid Systems: Computation and Control Y1 - 2004 A1 - A. Bicchi A1 - A. Marigo A1 - B. Piccoli ED - R. Alur ED - G. Pappas KW - Embedded Control KW - Robotics AB -

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.

JF - Hybrid Systems: Computation and Control T3 - LNCS PB - Springer-Verlag VL - 2993 ER -