标题： 具有碰撞的隐式非完整力学 显示英文标题

标题： Implicit Nonholonomic Mechanics with Collisions

摘要： 在本文中，变分技术被用于分析具有碰撞的非完整力学系统的动力学。 隐式非完整光滑拉格朗日和哈密顿系统被扩展到适合碰撞的非光滑背景下。 特别是，我们为具有碰撞的隐式非完整力学系统提供了变分公式，这些碰撞在碰撞时保持能量和动量。 最后，通过检查一个滚动圆盘撞击墙壁的例子来说明理论结果。 显示英文摘要

摘要： In this paper, variational techniques are used to analyze the dynamics of nonholonomic mechanical systems with impacts. Implicit nonholonomic smooth Lagrangian and Hamiltonian systems are extended to a nonsmooth context appropriate for collisions. In particular, we provide a variational formulation for implicit nonholonomic mechanical systems with collisions, for those collisions that preserve energy and momentum at the impact. Lastly, the theoretical results are illustrated by examining the example of a rolling disk hitting a wall.