Distributional model of impacts

  • Bernard Brogliato
Part of the Communications and Control Engineering book series (CCE)


This chapter is devoted to introducing the mathematical basis on which nonsmooth impact dynamics rely. Impulsive shock dynamics are first presented without mentioning constraints. Then unilateral constraints are presented without speaking of contact forces. Emphasis is put on measure differential equations (MDEs), and on the difference between several types of MDEs and those which represent the dynamics of mechanical systems with unilateral constraints. Variable changes that allow one to transform such MDEs into Carathéodory ordinary differential equations (ODEs) or Filipov’s discontinuous ODEs are presented.


Manifold Torque Contact Action Assure Convolution 


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Copyright information

© Springer-Verlag London 1999

Authors and Affiliations

  • Bernard Brogliato
    • 1
  1. 1.UMR CNRS 5528Domaine UniversitaireSaint Martin D’HèresFrance

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