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.
|Title of host publication||Proceedings of the 2007 ECCOMAS Thematic Conference on Multibody Dynamics, 25-28 June 2007, Milano, Italy|
|Editors||C.L. Bottasso, P. Masarati, L. Trainelli|
|Place of Publication||Italy, Milano|
|Publication status||Published - 2007|