This article presents an approach to implement a sliding-mode position controller plant equipped with nonsmooth actuator. The actuator is modeled as set-valued function from the control input and velocity force, which motivated by quasi-static characteristics of hydraulic actuators shown in previous study. implementation performed implicit discretization nominal model controller, copes difficul...

Abstract. We investigate a nonsmooth Newton’s method for the numerical solution of optimal control problems subject to mixed control-state constraints. The necessary conditions are stated in terms of a local minimum principle. By use of the Fischer-Burmeister function the local minimum principle is transformed into an equivalent nonlinear and nonsmooth equation in appropriate Banach spaces. Thi...

We investigate a nonsmooth Newton’s method for the numerical solution of optimal control problems subject to mixed control-state constraints. The necessary conditions are stated in terms of a local minimum principle. By use of the Fischer-Burmeister function the local minimum principle is transformed into an equivalent nonlinear and nonsmooth equation in appropriate Banach spaces. This nonlinea...

In this work we consider the stochastic minimization of nonsmooth convex loss functions, a central problem in machine learning. We propose a novel algorithm called Accelerated Nonsmooth Stochastic Gradient Descent (ANSGD), which exploits the structure of common nonsmooth loss functions to achieve optimal convergence rates for a class of problems including SVMs. It is the first stochastic algori...

Nonsmooth equation-solving and optimization algorithms which require local sensitivity information are extended to systems with nonsmooth parametric differential-algebraic equations embedded. Nonsmooth differential-algebraic equations refers here to semi-explicit differential-algebraic equations with algebraic equations satisfying local Lipschitz continuity and differential right-hand side func...

It has long been known that variational inequality problems can be reformulated as nonsmooth equations. Recently, locally high-order convergent Newton methods for nonsmooth equations have been well established via the concept of semismoothness. When the constraint set of the variational inequality problem is a rectangle, several locally convergent Newton methods for the reformulated nonsmooth e...

This paper introduces feedback control methods for distributed manipulation systems that move objects via rolling and slipping point contacts. Due to the intermittent nature of these mechanical contacts, the governing mechanics of these systems are inherently nonsmooth. We first present a methodology to model these nonsmooth mechanical effects in a manner that is tractable for nonsmooth control...

This paper investigates the potential behavior, both good and bad, of the well-known BFGS algorithm for smooth minimization, when applied to nonsmooth functions. We consider three very particular examples. We first present a simple nonsmooth example, illustrating how BFGS (in this case with an exact line search) typically succeeds despite nonsmoothness. We then study, computationally, the behav...

Inspired by the idea that bionic nonsmooth surfaces (BNSS) reduce fluid adhesion and resistance, the effect of dimple bionic nonsmooth structure arranged in tire circumferential grooves surface on antihydroplaning performance was investigated by using Computational Fluid Dynamics (CFD). The physical model of the object (model of dimple bionic nonsmooth surface distribution, hydroplaning model) ...