Authors: Jorge Cortés and Alexandre M. Vinogradov
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
35 pages, LaTeX-2e (LaTeX-2e).
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