Singular mass matrix and redundant constraints in unilaterally constrained Lagrangian and Hamiltonian systems
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Publication:497836
DOI10.1007/s11044-014-9437-4zbMath1335.70035OpenAlexW2011162871MaRDI QIDQ497836
Daniel Goeleven, Bernard Brogliato
Publication date: 25 September 2015
Published in: Multibody System Dynamics (Search for Journal in Brave)
Full work available at URL: https://hal.inria.fr/hal-01088286/file/BBDG.pdf
singular Hamiltonian systemconvex analysisrecession conecomplementarity conditionsunilateral constraintredundant constraintsmixed linear complementarity problemLegendre-Fenchel transformationbilateral holonomic constraintsingular Lagrangian system
Constrained dynamics, Dirac's theory of constraints (70H45) Lagrangian formalism and Hamiltonian formalism in mechanics of particles and systems (70S05)
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