Papers › Finite Elements with Switch Detection for Numerical Optimal Control of Projected...
Finite Elements with Switch Detection for Numerical Optimal Control of Projected Dynamical Systems
Anton Pozharskiy, Armin Nurkanović, Moritz Diehl
The archive published only this paper's code-link row. Authors, date and abstract are from arXiv's metadata (CC0), read from the Kaggle arXiv metadata snapshot of 2026-09-12 where its title matched the archive's; the title is the archive's.
The Finite Elements with Switch Detection (FESD) method is a highly accurate direct transcription method for optimal control of several classes of nonsmooth dynamical systems. This paper extends the FESD method to Projected Dynamical Systems (PDS) and first-order sweeping processes with time-independent sets. This method discretizes an equivalent dynamic complementarity system and exploits the particular structure of the discontinuities present in these systems. In the FESD method, allowing integration step sizes to be degrees of freedom, and introducing additional complementarity constraints, enables the exact detection of nonsmooth events. In contrast to the standard fixed-step Runge-Kutta methods, this approach allows for the recovery of full-order integration accuracy and the correct computation of numerical sensitivities. Numerical examples illustrate the effectiveness of the proposed method in an optimal control context. This method and the examples are included in the open-source software package nosnoc.
Code
Repository list and official/mentioned flags are the archive's, frozen 2025-07-28. Reachability, where shown, is from one Syntology probe window (2026-09-16 to 2026-09-18); repositories not probed show nothing. GitHub stars are not tracked.
Code Syntology ran Syntology
Not run by Syntology. Nothing on this page verifies that the listed code works.
Results from the paper archive 2025-07-28
No leaderboard rows for this paper in the archive.
Report a problem or propose a change · a person checks every report against the paper or source before anything changes; decisions are listed on /corrections