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Volume 5: 6th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B, and C
Time-stepping schemes are widely used when integrating non-smooth systems. In this paper we discuss an augmented time-stepping scheme which uses step-size adjustment and extrapolation. The time evolution of non-smooth systems can be divided in different smooth parts, which are separated by switching points. We deduce the time-stepping method of Moreau, which is a common order-one integration method for non-smooth systems. We formulate the method using contact inclusions, and show how thesedoi:10.1115/detc2007-34154 fatcat:fcd6o6uq3je3hbe7ijbz2i7mgi