Stability and attractivity of mechanical systems with unilateral constraints

R.I. Leine, N. Wouw, van de

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review


In this paper we will give conditions under which the equilibrium set of multi-degree-of-freedom nonlinear mechanical systems with an arbitrary number of frictional unilateral constraints is attractive. The theorems for attractivity are proved by using the framework of measure differential inclusions together with a Lyapunov-type stability analysis and a generalisation of LaSalle’s invariance principle for non-smooth systems. The special structure of mechanical multi-body systems allows for a natural Lyapunov function and an elegant derivation of the proof. These results are illustrated by means of examples with unilateral frictional constraints.
Original languageEnglish
Title of host publicationProceedings of the 2007 ECCOMAS Thematic Conference on Multibody Dynamics, 25-28 June 2007, Milano, Italy
EditorsC.L. Bottasso, P. Masarati, L. Trainelli
Place of PublicationItaly, Milano
Publication statusPublished - 2007


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