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.
Multibody Inverse Dynamics Using an Energy Preserving Direct Transcription Process
BOTTASSO, CARLO LUIGI;CROCE, ALESSANDRO
2003-01-01
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.File in questo prodotto:
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