Mihai Anitescu

A computational study of the use of an optimization-based method for simulating large multibody systems

  • Mihai Anitescu
  • Florian A. Potra
  • Bogdan Gavrea
  • Cosmin G. Petra
    • Categories Mechanical Engineering, Quadratic Programming

    The present work aims at comparing the performance of several quadratic programming (QP) solvers for simulating large-scale frictional rigid-body systems. Traditional time-stepping schemes for simulation of multibody systems are formulated as linear complementarity problems (LCPs) with copositive matrices. Such LCPs are generally solved by means of Lemketype algorithms and solvers such as the PATH solver … Read more

    An iterative approach for cone complementarity problems for nonsmooth multibody dynamics

  • Mihai Anitescu
  • Alessandro Tasora
    • Categories Complementarity and Variational Inequalities, Convex Optimization, Mechanical Engineering

    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 … Read more

    CONVERGENCE OF A CLASS OF SEMI-IMPLICIT TIME-STEPPING SCHEMES FOR NONSMOOTH RIGID MULTIBODY DYNAMICS

  • Mihai Anitescu
  • Florian A. Potra
  • Bogdan Gavrea
    • Categories Complementarity and Variational Inequalities, Mechanical Engineering, Other Topics Tags , , , ,

    In this work we present a framework for the convergence analysis in a measure differential inclusion sense of a class of time-stepping schemes for multibody dynamics with contacts, joints, and friction. This class of methods solves one linear complementarity problem per step and contains the semi-implicit Euler method, as well as trapezoidallike methods for which … Read more

    SPECTRAL STOCHASTIC FINITE-ELEMENT METHODS FOR PARAMETRIC CONSTRAINED OPTIMIZATION PROBLEMS

  • Mihai Anitescu
    • Categories Constrained Nonlinear Optimization, Mechanical Engineering, Stochastic Programming Tags , , , ,

    We present a method to approximate the solution mapping of parametric constrained optimization problems. The approximation, which is of the spectral stochastic finite element type, is represented as a linear combination of orthogonal polynomials. Its coefficients are determined by solving an appropriate finite-dimensional constrained optimization problem. We show that, under certain conditions, the latter problem … Read more

    Elastic-Mode Algorithms for Mathematical Programs with Equilibrium Constraints: Global Convergence and Stationarity Properties

  • Mihai Anitescu
  • Paul Tseng
  • Stephen Wright
    • Categories Complementarity and Variational Inequalities, Constrained Nonlinear Optimization Tags , , , , , ,

    The elastic-mode formulation of the problem of minimizing a nonlinear function subject to equilibrium constraints has appealing local properties in that, for a finite value of the penalty parameter, local solutions satisfying first- and second-order necessary optimality conditions for the original problem are also first- and second-order points of the elastic-mode formulation. Here we study … Read more

    GLOBAL CONVERGENCE OF AN ELASTIC MODE APPROACH FOR A CLASS OF MATHEMATICAL PROGRAMS WITH COMPLEMENTARITY CONSTRAINTS

  • Mihai Anitescu
    • Categories Complementarity and Variational Inequalities, Constrained Nonlinear Optimization, Mechanical Engineering Tags , , ,

    We prove that any accumulation point of an elastic mode approach, applied to the optimization of a mixed P variational inequality, that approximately solves the relaxed subproblems is a C-stationary point of the problem of optimizing a parametric mixed P variational inequality. If, in addition, the accumulation point satis es the MPCC-LICQ constraint quali cation and if … Read more

    ON USING THE ELASTIC MODE IN NONLINEAR PROGRAMMING APPROACHES TO MATHEMATICALPROGRAMS WITH COMPLEMENTARITY CONSTRAINTS

  • Mihai Anitescu
    • Categories Complementarity and Variational Inequalities, Constrained Nonlinear Optimization Tags , , , , ,

    We investigate the possibility of solving mathematical programs with complementarity constraints (MPCCs) using algorithms and procedures of smooth nonlinear programming. Although MPCCs do not satisfy a constraint qualification, we establish sucient conditions for their Lagrange multiplier set to be nonempty. MPCCs that have nonempty Lagrange multiplier sets and that satisfy the quadratic growth condition can … Read more

    OPTIMIZATION-BASED SIMULATION OF NONSMOOTH RIGID MULTIBODY DYNAMICS

  • Mihai Anitescu
    • Categories Complementarity and Variational Inequalities, Mechanical Engineering Tags , , , ,

    We present a time-stepping method to simulate rigid multibody dynamics with inelastic collision, contact, and friction. The method progresses with fixed time step without backtracking for collision and solves at every step a strictly convex quadratic program. We prove that a solution sequence of the method converges to the solution of a measure differential inclusion. … Read more