Multibody inverse dynamics using an energy preserving direct transcription process

Carlo L. Bottasso; Alessandro Croce

doi:10.1115/detc2003/vib-48331

Multibody inverse dynamics using an energy preserving direct transcription process

Publikation: Konferenzbeitrag › Papier › Begutachtung

Abstract

We propose a procedure for the solution of inverse multibody dynamic problems, here intended as optimal control problems for dynamical systems governed by differential-algebraic equations. The numerical solution is obtained by a direct transcription process based on an energy preserving scheme that ensures non-linear unconditional stability. The resulting finite-dimensional problem is solved by sequential quadratic programming. We test the proposed methodology with the help of representative examples.

Originalsprache	Englisch
Seiten	267-275
Seitenumfang	9
DOIs	https://doi.org/10.1115/detc2003/vib-48331
Publikationsstatus	Veröffentlicht - 2003
Extern publiziert	Ja
Veranstaltung	2003 ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference - Chicago, IL, USA/Vereinigte Staaten Dauer: 2 Sept. 2003 → 6 Sept. 2003

Konferenz

Konferenz	2003 ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Land/Gebiet	USA/Vereinigte Staaten
Ort	Chicago, IL
Zeitraum	2/09/03 → 6/09/03

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10.1115/detc2003/vib-48331

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abstract = "We propose a procedure for the solution of inverse multibody dynamic problems, here intended as optimal control problems for dynamical systems governed by differential-algebraic equations. The numerical solution is obtained by a direct transcription process based on an energy preserving scheme that ensures non-linear unconditional stability. The resulting finite-dimensional problem is solved by sequential quadratic programming. We test the proposed methodology with the help of representative examples.",

author = "Bottasso, {Carlo L.} and Alessandro Croce",

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AU - Bottasso, Carlo L.

AU - Croce, Alessandro

PY - 2003

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N2 - We propose a procedure for the solution of inverse multibody dynamic problems, here intended as optimal control problems for dynamical systems governed by differential-algebraic equations. The numerical solution is obtained by a direct transcription process based on an energy preserving scheme that ensures non-linear unconditional stability. The resulting finite-dimensional problem is solved by sequential quadratic programming. We test the proposed methodology with the help of representative examples.

AB - We propose a procedure for the solution of inverse multibody dynamic problems, here intended as optimal control problems for dynamical systems governed by differential-algebraic equations. The numerical solution is obtained by a direct transcription process based on an energy preserving scheme that ensures non-linear unconditional stability. The resulting finite-dimensional problem is solved by sequential quadratic programming. We test the proposed methodology with the help of representative examples.

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U2 - 10.1115/detc2003/vib-48331

DO - 10.1115/detc2003/vib-48331

M3 - Paper

AN - SCOPUS:1842684912

SP - 267

EP - 275

T2 - 2003 ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference

Y2 - 2 September 2003 through 6 September 2003

ER -

Multibody inverse dynamics using an energy preserving direct transcription process

Abstract

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