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Formulating Dynamic Multi-Rigid-Body Contact Problems with Friction as Solvable Linear Complementarity Problems
A linear complementarity formulation for dynamic multi-rigid-body contact problems with Coulomb friction is presented. The formulation, based on explicit Euler integration and polygonal approximationExpand
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A time-stepping method for stiff multibody dynamics with contact and friction
We define a time-stepping procedure to integrate the equations of motion of stiff multibody dynamics with contact and friction. The friction and non-interpenetration constraints are modelled byExpand
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Time-stepping for three-dimensional rigid body dynamics
Traditional methods for simulating rigid body dynamics involves determining the current contact arrangement (e.g., each contact is either a “rolling” or “sliding” contact). The development of thisExpand
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On Using the Elastic Mode in Nonlinear Programming Approaches to Mathematical Programs with Complementarity Constraints
  • M. Anitescu
  • Mathematics, Computer Science
  • SIAM J. Optim.
  • 1 April 2005
TLDR
We investigate the possibility of solving mathematical programs with complementarity constraints (MPCCs) using algorithms and procedures of smooth nonlinear programming. Expand
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On Solving Mathematical Programs With Complementarity Constraints As Nonlinear Programs
We investigate the possibility of solving mathematical programs with complemen tarity constraints MPCCs using algorithms and procedures of smooth nonlinear programming Although MPCCs do not satisfy aExpand
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An iterative approach for cone complementarity problems for nonsmooth dynamics
TLDR
We present a novel method for solving large cone complementarity problems by means of a fixed-point iteration. Expand
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A Superlinearly Convergent Sequential Quadratically Constrained Quadratic Programming Algorithm for Degenerate Nonlinear Programming
  • M. Anitescu
  • Mathematics, Computer Science
  • SIAM J. Optim.
  • 1 April 2002
TLDR
We present an algorithm that achieves superlinear convergence for nonlinear programs satisfying the Mangasarian--Fromovitz constraint qualification and the quadratic growth condition, despite the potential lack of a locally convex augmented Lagrangian. Expand
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Real-Time Stochastic Optimization of Complex Energy Systems on High-Performance Computers
TLDR
A scalable approach computes in operationally-compatible time the energy dispatch under uncertainty for electrical power grid systems of realistic size with thousands of scenarios. Expand
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Scalable stochastic optimization of complex energy systems
TLDR
We present a scalable approach and implementation for solving stochastic programming problems, with application to the optimization of complex energy systems under uncertainty. Expand
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Degenerate Nonlinear Programming with a Quadratic Growth Condition
  • M. Anitescu
  • Computer Science, Mathematics
  • SIAM J. Optim.
  • 1 August 1999
TLDR
We show that the quadratic growth condition and the Mangasarian--Fromovitz constraint qualification (MFCQ) imply that local minima of nonlinear programs are isolated stationary points. Expand
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