FESD-J: Finite Elements with Switch Detection for Numerical Optimal Control of Rigid Bodies with Impacts and Coulomb Friction

DOI10.1016/J.NAHS.2023.101460arXiv2305.17003OpenAlexW4390378882MaRDI QIDQ6438129FDOQ6438129

Authors: Armin Nurkanović, Jonathan Frey, Anton Pozharskiy, Moritz Diehl 

Publication date: 26 May 2023

Abstract: The Finite Elements with Switch Detection (FESD) is a high-accuracy method for the numerical simulation and solution of optimal control problems subject to discontinuous ODEs. In this article, we extend the FESD method [Nurkanovi'c et al., 2022] to the dynamic equations of multiple rigid bodies that exhibit state jumps due to impacts and Coulomb friction. This new method is referred to as FESD with Jumps (FESD-J). Starting from the standard Runge-Kutta equations, we let the integration step sizes be degrees of freedom. Additional constraints are introduced to ensure exact switch detection and to remove spurious degrees of freedom if no switches occur. Moreover, at the boundaries of each finite element, we impose the impact equations in their complementarity form, at both the position and velocity level. They compute the normal and tangential impulses in case of contact making. Otherwise, they are reduced to the continuity conditions for the velocities. FESD-J treats multiple contacts, where each contact can have a different coefficient of restitution and friction. All methods introduced in this paper are implemented in the open-source software package NOSNOC. We illustrate the use of FESD-J in both simulation and optimal control examples.

Full work available at URL: https://doi.org/10.1016/j.nahs.2023.101460

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Mathematics Subject Classification ID

Numerical analysis (65-XX) Mechanics of deformable solids (74-XX)

Cited In (2)

• Finite elements with switch detection for direct optimal control of nonsmooth systems
• Finite elements with switch detection for numerical optimal control of nonsmooth dynamical systems with set-valued heaviside step functions

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