Speaker
Description
For many engineering applications, friction is vital for their functionality. For walking and driving for example, the friction with the ground is exploited for locomotion. From a mathematical point of view, one of the main hurdles for the optimal control of systems with friction is the strong nonlinearity or even nonsmoothness introduced by slip-stick transitions, for example.
In this talk, we employ a pendulum driven by a frictional clutch as a representative benchmark problem to delve into the intricate challenges posed by friction in optimal control problems. We examine how the nonlinearity and nonsmoothness inherent in friction affect the optimal control problem and introduce different numerical solution approaches. Finally, the different approaches are compared to each other.
