Thank you for opening the third edition of this monograph. The first edition [202] was
published in 1996 in the Lecture Notes in Control and Information Sciences series (vol. 220) …

Nonholonomic systems are a widespread topic in several scientific and commercial
domains, including robotics, locomotion and space exploration. This work sheds new light …

The aim of this paper is to present a short historical/scientific review on nonholonomic
mechanics, with special emphasis on the latest developments. Indeed, the use of differential …

We describe geometrically contact Lagrangian systems under impulsive forces and
constraints, as well as instantaneous nonholonomic constraints which are not uniform along …

In this paper, the theory of smooth actiondependent Lagrangian mechanics (also known as
contact Lagrangians) is extended to a non-smooth context appropriate for collision …

Symmetries are ubiquitous in a wide range of nonlinear systems. Particularly in systems
whose dynamics is determined by a Lagrangian or Hamiltonian function. For hybrid systems …

In this paper, we propose a geometric integrator for nonholonomic mechanical systems. It
can be applied to discrete Lagrangian systems specified through a discrete Lagrangian …

A hybrid system is a system whose dynamics are controlled by a mixture of both continuous
and discrete transitions. The geometric framework for the Hamilton-Jacobi theory is …

Dissipative phenomena manifest in multiple mechanical systems. In this dissertation,
different geometric frameworks for modelling non-conservative dynamics are considered …

We study mechanical systems subject to constraint functions that can be dependent at some
points and independent at the rest. Such systems are modelled by means of generalized …