Jorge Cortés
Professor
Cymer Corporation Endowed Chair
Hamiltonian theory of constrained impulsive motion
J. Cortés, A.M. Vinogradov
Journal of Mathematical Physics 47 (2006), 042905 (1-30)
Abstract
This paper considers systems subject to nonholonomic constraints which
are not uniform on the whole configuration manifold. When the
constraints change, the system undergoes a transition in order to
comply with the new imposed conditions. Building on previous work on
the Hamiltonian theory of impact, we tackle the problem of
mathematically describing the classes of transitions that can
occur. We propose a comprehensive formulation of the Transition
Principle that encompasses the various impulsive regimes of
Hamiltonian systems. Our formulation is based on the partial
symplectic formalism, which provides a suitable framework for the
dynamics of nonholonomic systems. We pay special attention to
mechanical systems and illustrate the results with several examples.
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Mechanical and Aerospace Engineering,
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