Numerical simulation of Nonsmooth Systems and Switching Control with the SICONOS/Control toolbox

Vincent Acary (1) , Irinel-Constantin Morarescu (1) , Franck Pérignon (1) , Bernard Brogliato (1)

1 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems

In this work we present the general concepts of the SICONOS platform (free opensource (GPL)). The reliability of this platform is pointed out by simulating the dynamics of a nonsmooth non-linear mechanical system. Some numerical results and their mechanical interpretations conclude the presentation.

Mots clés: Nonsmooth Dynamical Systems; Linear Complementarity Problem; Time-stepping scheme; Switching control

Domaines: Analyse numérique [cs.NA]; Modélisation et simulation; Automatique / Robotique

Vincent Acary, Irinel-Constantin Morarescu, Franck Pérignon, Bernard Brogliato. Numerical simulation of Nonsmooth Systems and Switching Control with the SICONOS/Control toolbox. ENOC 2008 - 6th EUROMECH Nonlinear Dynamics Conference, Jun 2008, Saint Petersbourg, Russia. ⟨hal-00389385⟩