Dynamics of Systems with Unilateral Differential Constraints

Abstract

A dynamical system with constraints in the form of linear differential inequalities is considered. It is proved that, in the general case, the motion under such constraints is impactless. The possibility of implementing such constraints by viscous friction forces is shown. An example of a nonholonomic system is given that demonstrates via numerical simulation how a system with anisotropic viscous friction transforms into a system with unilateral differential constraints as the degree of anisotropy increases.