Simulation of multibody systems with servo constraints through optimal control

DOI10.1007/s11044-016-9558-zzbMath1386.70014OpenAlexW2552352299WikidataQ59529096 ScholiaQ59529096MaRDI QIDQ1699611

Robert Altmann, Jan Heiland

Publication date: 23 February 2018

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: http://europepmc.org/articles/pmc7010392

zbMATH Keywords

optimal controlunderactuated mechanical systemsinverse dynamicshigh-index daesservo constraints

Mathematics Subject Classification ID

Applications of optimal control and differential games (49N90) Dynamics of multibody systems (70E55)

Related Items (9)

Trajectory-tracking control from a multibody system dynamics perspective ⋮ Motion Control of a Spherical Robot with a Pendulum Actuator for Pursuing a Target ⋮ General Nonlinear Differential Algebraic Equations and Tracking Problems: A Robotics Example ⋮ DAE Aspects in Vehicle Dynamics and Mobile Robotics ⋮ Open-Loop Control of Underactuated Mechanical Systems Using Servo-Constraints: Analysis and Some Examples ⋮ Solving higher index DAE optimal control problems ⋮ Numerical integration for the inverse dynamics of a large class of cranes ⋮ A Differential-Algebraic Riccati Equation for Applications in Flow Control ⋮ Combined open-loop and funnel control for underactuated multibody systems

Uses Software

• RODAS
• GitHub
• holo-servo-opt

Cites Work

• Unnamed Item
• Unnamed Item
• Unnamed Item
• Unnamed Item
• Unnamed Item
• Unnamed Item
• Unnamed Item
• Unnamed Item
• Dynamics and control of mechanical systems in partly specified motion
• A geometric approach to solving problems of control constraints: Theory and a DAE framework
• Optimal control for unstructured nonlinear differential-algebraic equations of arbitrary index
• Automatic integration of Euler-Lagrange equations with constraints
• Index of differential-algebraic equations governing the dynamics of constrained mechanical systems
• Direct shooting method for the numerical solution of higher-index DAE optimal control problems
• Index reduction by minimal extension for the inverse dynamics simulation of cranes
• Formal adjoints of linear DAE operators and their role in optimal control
• A Shooting Method for Fully Implicit Index-2 Differential Algebraic Equations
• Adaptive control of linearizable systems
• Numerical Solution of Boundary Value Problems in Differential-Algebraic Systems
• Index reduction for differential-algebraic equations by minimal extension
• Flatness and defect of non-linear systems: introductory theory and examples

This page was built for publication: Simulation of multibody systems with servo constraints through optimal control