On the Solution of Inverse Dynamics and Trajectory Optimization Problems for Multibody Systems

Carlo L. Bottasso, Alessandro Croce, Luca Ghezzi, Paolo Faure

Research output: Contribution to journalArticlepeer-review

18 Scopus citations

Abstract

We study the solution of inverse multibody dynamics problems, here intended as optimal control problems for dynamical systems governed by differential-algebraic equations. The optimal control problem can involve control and state equality and inequality constraints and general objective functions. We analyze various possible alternative strategies for the solution of such problems, with the specific goal of identifying procedures that possess the characteristics of generality, robustness and practical applicability in general purpose industrial level multibody software. Within these constraints, we propose a formulation based on a variant of the direct transcription method and we test it with the help of representative example problems.

Original languageEnglish
Pages (from-to)1-22
Number of pages22
JournalMultibody System Dynamics
Volume11
Issue number1
DOIs
StatePublished - Feb 2004
Externally publishedYes

Keywords

  • Direct transcription
  • Inverse dynamics
  • Multibody dynamics
  • Multiple shooting
  • Optimal control
  • Path optimization

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