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.
|Titolo:||Multibody Inverse Dynamics Using an Energy Preserving Direct Transcription Process|
|Data di pubblicazione:||2003|
|Appare nelle tipologie:||04.1 Contributo in Atti di convegno|