A position-based time-stepping algorithm for vibro-impact problems with a moving set of constraints (Q2275954)

Consider the differential inclusion \[ \ddot{u} + N(K(t),u)\ni g(t,u),\tag{1} \] where \(K(t)\) is subset of \(\mathbb R^{d}\) characterized by the inequalities \(u\in K(t)\Leftrightarrow f_{\alpha}(t,u)\geq 0\), and \(\alpha\in \{1,\dots,\nu\}\) with smooth functions \(f_{\alpha}\), \(N(K(t),u)\) is the normal cone to \(K(t)\) at \(u.\) Problem: Find \(u:[0,\tau]\to\mathbb R^d,\) with \(\tau >0,\) such that {\parindent8.5mm \begin{itemize}\item[{\((P_1)\)}] \(u\) is absolutely continuous on \([0,\tau]\), \(\dot{u}\in BV([0,\tau];\mathbb R^d)\); \item[{\((P_2)\)}] \(u(t)\in K(t)\) \(\forall t\in [0,\tau]\); \item[{\((P_3)\)}] the measure \(\mu =d\dot{u} -g(\cdot,u)dt\) satisfies the differential inclusion (1) in the sense that there exist \(\nu\) scalar measures \(\lambda_{\alpha}\) such that \[ d\dot{u} - g(\cdot,u)dt= \sum_{\alpha=1}^{\nu}\lambda_{\alpha}\nabla_{u}f_{\alpha}(\cdot,u), \] \(\lambda_{\alpha}\geq 0\), Supp\((\lambda_\alpha)\subset\{t\in[0,\tau]:f_\alpha(t,u(t))=0\}\) \(\forall\alpha\in\{1,\dots,\nu\}\); \item[{\((P_4)\)}] \(\dot{u}(t^+)=\text{Proj}(T(K(t),u(t)),\dot{u}(t^-))\) \(\forall t\in (0,\tau)\); \item[{\((P_5)\)}] \(u(0) =u_0\), \(\dot{u}(0^+) = v_0\). \end{itemize}} The aim of this paper is to propose a generalization of position-based algorithms and to prove their convergence to a solution of the Cauchy problem.