Title Discrete and Hybrid Nonholonomy Publication Type Conference Paper Year of Publication 2004 Conference Name Hybrid Systems: Computation and Control Edited Volume 2993 Pagination 157-172 Publication Language eng Authors Bicchi, A, Marigo, A, Piccoli, B Editor Alur, R, Pappas, G Publisher Springer-Verlag Keywords Embedded Control, Robotics Abstract 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.
AttachmentSize
242.15 KB