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- W2011326770 abstract "This paper extends projection-based formulations of nonsmooth mechanics to the Hamiltonian setting, where projection mappings may be defined in terms of phase information. The projection-based approach embeds the presence of unilateral constraints into a projection mapping and yields models with greater smoothness properties relative to classical representations. Herein, we establish sufficient conditions by which a projection-based model will remain Hamiltonian as well as conditions by which solutions will be C1 smooth. In combination, these results identify a means to impart the geometric structure of unconstrained smooth mechanics to nonsmooth mechanical systems and enable the use of smooth simulation and control techniques." @default.
- W2011326770 created "2016-06-24" @default.
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- W2011326770 date "2014-12-01" @default.
- W2011326770 modified "2023-09-25" @default.
- W2011326770 title "Projection-based modeling and simulation of nonsmooth Hamiltonian mechanics" @default.
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- W2011326770 doi "https://doi.org/10.1109/cdc.2014.7040334" @default.
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