Nonsmooth Mechanics
Abstract
This book is devoted to the study of a class of nonsmooth dynamical systems of the general form:
$$
\begin{align}
&\dot{x}(t)=g(x(t),u)\\
&f(x,t)\geq 0
\end{align}
$$
where $x(t)\in \mathbb{R}^n$ is the system’s state vector, $u \in\mathbb{R}^{n_u}$ is the vector of inputs, and the function $f$ represents a set of $m_u$ unilateral constraints which are imposed on the system.
Keywords
restitution coefficients
Darboux-Keller shock dynamics
linear complementarity systems
Moreau's sweeping process
measure differential inclusions
hybrid dynamical systems
trajectory tracking
Lyapunov stability
variational principles
impact mechanics
complementarity conditions
complementarity systems
Unilateral constraints
multiple impacts