Abstract In this work we show that numerical integration during sliding motion, for piecewise-smooth systems, can be performed without the need to project the approximate solutions on the constraints' surface. We give a general algorithm, an order of approximation result, and show the effectiveness of the technique on several examples. Comparison between projected and non-projected methods and the standard regularization approach is also given.

中文翻译：

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无投影的滑动集成

摘要 在这项工作中，我们展示了滑动运动期间的数值积分，对于分段平滑系统，可以在不需要在约束表面上投影近似解的情况下进行。我们给出了一个通用算法，一个近似结果的顺序，并在几个例子中展示了该技术的有效性。还给出了投影和非投影方法与标准正则化方法之间的比较。