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 - TY - CONF T1 - Decentralized Air Traffic Management Systems: Performance and Fault Tolerance T2 - Proc. IFAC Workshop on Motion Control Y1 - 1998 A1 - A. Bicchi A1 - A. Marigo A1 - G. Pappas A1 - M. Pardini A1 - G. Parlangeli A1 - C. Tomlin A1 - S. Sastry KW - Air Traffic Management Systems KW - Autonomous Vehicles KW - Hybrid and Embedded Control Systems KW - Nonlinear Control Systems JF - Proc. IFAC Workshop on Motion Control ER -