Multibody inverse dynamics using an energy preserving direct transcription process

Carlo L. Bottasso, Alessandro Croce

Research output: Contribution to conferencePaperpeer-review

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.

Original languageEnglish
Pages267-275
Number of pages9
DOIs
StatePublished - 2003
Externally publishedYes
Event2003 ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference - Chicago, IL, United States
Duration: 2 Sep 20036 Sep 2003

Conference

Conference2003 ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Country/TerritoryUnited States
CityChicago, IL
Period2/09/036/09/03

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