Energy momentum consistent force formulation for the optimal control of multibody systems

Koch M, Leyendecker S (2010)

Publication Language: English

Publication Type: Conference contribution

Publication year: 2010

Book Volume: 10

Pages Range: 43-44

Conference Proceedings Title: Proc. Appl. Math. Mech. (PAMM)

Event location: Karlsruhe DE

DOI: 10.1002/pamm.201010014

Abstract

This work considers the optimal control of multibody systems being actuated with control forces which impact the system's motion directly. The goal is to find a dynamically feasible trajectory of states and control leading from an initial to a desired final state, while minimising an objective function. The optimal control problem is solved using a direct transcription method, i.e. boundary conditions and a discrete version of the equations of motion serve as constraints for the minimisation of a cost function with respect to the discrete state and control trajectory. Here, a particular time stepping scheme, an energy momentum integrator based on discrete derivatives is used. Corresponding to a constrained formulation of multibody systems, we develop an energy momentum consistent discrete force formulation that fits into the energy momentum integrator.

Authors with CRIS profile

Michael Koch Institute of Applied Dynamics Sigrid Leyendecker Institute of Applied Dynamics

Related research project(s)

Simulation and optimal control of the dynamics of multibody systems in biomechanics and robotics Dec. 1, 2008 - Dec. 1, 2011

How to cite

APA:

Koch, M., & Leyendecker, S. (2010). Energy momentum consistent force formulation for the optimal control of multibody systems. In Proc. Appl. Math. Mech. (PAMM) (pp. 43-44). Karlsruhe, DE.

MLA:

Koch, Michael, and Sigrid Leyendecker. "Energy momentum consistent force formulation for the optimal control of multibody systems." Proceedings of the GAMM Annual Meeting, Karlsruhe 2010. 43-44.

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