An iterative approach for cone complementarity problems for nonsmooth dynamics

被引：99

作者：

Anitescu, Mihai ^{[1
]}

Tasora, Alessandro ^{[2
]}

机构：

[1] Argonne Natl Lab, Div Math & Comp Sci, Argonne, IL 60439 USA

[2] Univ Parma, Dipartimento Ingn Ind, I-43100 Parma, Italy

来源：

COMPUTATIONAL OPTIMIZATION AND APPLICATIONS | 2010年 / 47卷 / 02期

关键词：

Iterative methods; Cone complementarity problems; LCP; Complementarity; Contacts; Multibody; BODY CONTACT PROBLEMS; STIFF MULTIBODY DYNAMICS; TIME-STEPPING METHOD; CONVERGENCE; SIMULATION; FRICTION; SYSTEMS; JOINTS;

D O I：

10.1007/s10589-008-9223-4

中图分类号：

C93 [管理学]; O22 [运筹学];

学科分类号：

070105 ; 12 ; 1201 ; 1202 ; 120202 ;

摘要：

Aiming at a fast and robust simulation of large multibody systems with contacts and friction, this work presents a novel method for solving large cone complementarity problems by means of a fixed-point iteration. The method is an extension of the Gauss-Seidel and Gauss-Jacobi method with overrelaxation for symmetric convex linear complementarity problems. The method is proved to be convergent under fairly standard assumptions and is shown by our tests to scale well up to 500,000 contact points and more than two millions of unknowns.

引用

页码：207 / 235

页数：29

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