Numerical Methods for Nonsmooth Dynamical Systems: Applications in Mechanics and Electronics

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Existence and Uniqueness of Solutions for Non-Autonomous Complementarity Dynamical Systems (2010, background): “One notes that the relation in (6) allows us to prove that the considered LCS is of the gradient type [1], which is the reason why the transformations into a sweeping process can be performed.”
Simultaneous enforcement of constraints at position and velocity levels in the nonsmooth generalized-α scheme (2014, background): “, the velocity of the system when the reaction forces of the unilateral constraints are null [19].”
A direct method for trajectory optimization of rigid bodies through contact (2014, background): “One straightforward approach to extending to 3D would be to treat both λx and ψ( q, q̇) as two-vectors, and write down a set of nonlinear constraints for Coulomb friction in the tangent plane, such as in Acary and Brogliato (2008).”