Mechanical systems with unilateral constraints: Controlled singularity approach

Joseph Bentsman, Boris M. Miller

Research output: Contribution to journalArticlepeer-review


Admitting the introduction of the impulsive control actions during singular phases of the dynamical system motion, such as changes in dimension, and discontinuities in the state, a well-posed representation of the discontinuous limiting motion of mechanical systems with unilateral constraints in terms of differential equations with measure is developed. This representation is mapped into a detailed multi-scale system description via a space-time transformation. The resulting framework, which includes the equations of the detailed and limit dynamics connected via the space-time transformation, is used to describe a difficult to model class of systems - mechanical systems with impulsive control actions introduced by a collision-type system interaction with nonstationary controllable constraints.

Original languageEnglish (US)
Pages (from-to)3692-3697
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
StatePublished - 2001

ASJC Scopus subject areas

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


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