Variational nonsmooth mechanics via a projected Hamilton's principle

David Pekarek*, Todd D. Murphey

*Corresponding author for this work

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

6 Scopus citations


This paper presents a projection-based variational formulation of nonsmooth mechanics. In contrast to existing approaches, nonsmooth behavior is captured through the use of a projection mapping on the configuration space. After clearly defining a projected Hamilton's principle, our main focus is on the existence of admissible projection mappings and variational solutions. This lays the foundation necessary for a variety of useful future developments, which includes optimization techniques, stochastic nonsmooth mechanical system models, and integrator symplecticity proofs.

Original languageEnglish (US)
Title of host publication2012 American Control Conference, ACC 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages7
ISBN (Print)9781457710957
StatePublished - 2012
Event2012 American Control Conference, ACC 2012 - Montreal, QC, Canada
Duration: Jun 27 2012Jun 29 2012

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2012 American Control Conference, ACC 2012
CityMontreal, QC

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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