A new equivalence between Moreau sweeping processes and extended projected dynamical systems enables accurate switch-detection discretization and efficient optimal control of constrained nonsmooth systems.
Dynamical systems and variational inequalities,
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First-Order Sweeping Processes and Extended Projected Dynamical Systems: Equivalence, Time-Discretization and Numerical Optimal Control
A new equivalence between Moreau sweeping processes and extended projected dynamical systems enables accurate switch-detection discretization and efficient optimal control of constrained nonsmooth systems.