Computational techniques for nonlinear dynamics in multiple friction oscillators Original Research Article

This paper presents some numerical techniques used to investigate the nonlinear dynamics of a class of mechanical systems affected by dry friction forces. They allow for the exact detection of the points which separate slip phases from stick phases, in this way the correct dynamic equations are integrated during the different motion phases. Finally, a method is described to perform the numerical computation of the Lyapunov exponents in such non-smooth systems.