Nonholonomic systems with inequality constraints
Optimization and Control
2023-02-07 v1 Mathematical Physics
math.MP
Abstract
In this paper we derive the equations of motion for nonholonomic systems subject to inequality constraints, both, in continuous-time and discrete-time. The last is done by discretizing the continuous time-variational principle which defined the equations of motion for a nonholonomic system subject to inequality constraints. An example is show to illustrate the theoretical results.
Cite
@article{arxiv.2302.02616,
title = {Nonholonomic systems with inequality constraints},
author = {Alexandre Anahory Simoes and Leonardo Colombo},
journal= {arXiv preprint arXiv:2302.02616},
year = {2023}
}