Modeling and Simulation of Physical Systems with Variable Structure

Two methods of collision handling with variable-step solvers for multi-disciplinary systems such as space robots are considered in this thesis. The first method computes point contacts, penetration depth, and resulting forces using a novel elastic material law between two potentially-colliding objects. The second method is a novel general approach to variable structure, multi-domain systems. It allows a varying number of equations and states during simulation, without having to recompile the code.