Nonholonomic reduction for mechanical systems with collisions

This paper studies nonsmooth variational problems on principal bundles for nonholonomic systems with collisions taking place in the boundary of the manifold configuration space of the nonholonopmic system. In particular, we first extended to a nonsmooth context appropriate for collisions the variational principle for nonholonomic implicit Lagrangian systems, to obtain implicit Lagrange–d’Alembert–Pontryagin equations for nonholonomic systems with collisions, and after introducing the notion of connection on a principal bundle we consider Lagrange–Poincaré–Pointryagin reduction by symmetries for systems with collisions.