Multiple instantaneous collisions in a variational framework

Vlad Seghete*, Todd David Murphey

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Scopus citations

Abstract

Variational integrators have become of interest to the controls community, particularly since in recent years they have been used in the context of optimal control. This paper discusses how to resolve simultaneous impacts in a variational context, assuming that all boundaries of the impacting bodies are differentiable. We demonstrate how this analysis works for arbitrary numbers of simultaneous impacts and derive discrete time algorithms for resolving these impacts numerically. We illustrate our results, both in the continuous and discrete domain, using Newton's cradle as an example.

Original languageEnglish (US)
Title of host publicationProceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
Pages5015-5020
Number of pages6
DOIs
StatePublished - Dec 1 2009
Event48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 - Shanghai, China
Duration: Dec 15 2009Dec 18 2009

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
Country/TerritoryChina
CityShanghai
Period12/15/0912/18/09

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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