Joint-coordinate adjoint method for optimal control of multibody systems

DOI10.1007/s11044-022-09851-yOpenAlexW4308409690MaRDI QIDQ2683355

P. Malczyk, Paweł Maciąg, Janusz Frączek

Publication date: 10 February 2023

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

Full work available at URL: https://doi.org/10.1007/s11044-022-09851-y

zbMATH Keywords

optimizationoptimal controlmultibody dynamicsadjoint method

Mathematics Subject Classification ID

Dynamics of multibody systems (70E55)

Related Items (1)

FPGA acceleration of planar multibody dynamics simulations in the Hamiltonian-based divide-and-conquer framework

Uses Software

• SUNDIALS
• CVODES

Cites Work

• A divide-and-conquer direct differentiation approach for multibody system sensitivity analysis
• Systematic reduction of multibody equations of motion to a minimal set
• Elimination of constraint violation and accuracy aspects in numerical simulation of multibody systems
• Optimal control of causal differential-algebraic systems
• Optimal input design for multibody systems by using an extended adjoint approach
• Structural sensitivity analysis of flexible multibody systems modeled with the floating frame of reference approach using the adjoint variable method
• Adjoint sensitivity analysis of hybrid multibody dynamical systems
• An efficient direct differentiation approach for sensitivity analysis of flexible multibody systems
• A parallel Hamiltonian formulation for forward dynamics of closed-loop multibody systems
• The embedded projection method: A general index reduction procedure for constrained system dynamics
• Robot and Multibody Dynamics
• The Discrete Hamiltonian-Based Adjoint Method for Some Optimization Problems in Multibody Dynamics
• Robot Dynamics Algorithms
• The complex-step derivative approximation

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