Non-Holonomic Stability Aspects of Piecewise-Holonomic Systems
Ruina, A., This paper demonstrates by means of a simple example that systems
that are piecewise holonomic but have intermittent contact inherit some of
the stability properties of non-holonomic systems. Reports on Mathematical
Physics, V. 42, No 1/2, P. 91-100, 1998
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Motions and Stability Of A Piecewise Holonomic System: The Discrete Chaplygin
Sleigh
Coleman, M, Holmes, P. This paper discusses the dynamics and stability of
a piecewise holonomic mechanical system as a function of mass distribution
and geometry. It further explores the ideas presented in the above paper.
Regular and Chaotic Dynamics vol. 4 no. 2 pp. 1-23, 1999.
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The symmetry of some of the simple non-holonomic examples precludes
assymtotic stability.
Ruina, A. These are overheads from a talk given at various places. pdf
file
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