Variational multirate integration in discrete mechanics and optimal control
Gail T, Ober-Blöbaum S, Leyendecker S (2017)
Publication Language: English
Publication Type: Conference contribution, Conference Contribution
Publication year: 2017
Conference Proceedings Title: Proceedings of the ECCOMAS Thematic Conference on Mutlibody Dynamics
Event location: Prague
Abstract
Systems with dynamics on different time scales have contradicting requirements on the integrator. These can be resolved with a multirate integration approach, where the system is split in parts which are integrated with different methods and time steps. This leads to computing time savings compared to a highly accurate simulation of the complete system. In this work, we benefit from these savings for optimal control problem simulations. Based on DMOC, which is a structure preserving simulation method for optimal control problems in mechanics, we develop an optimal control simulation method with a variational multirate integration scheme. Via an example system, we show convergence and the computing time behaviour of the multirate optimal control simulation method.
Authors with CRIS profile
Related research project(s)
Numerical investigations on optimal control and variational integrators for multirate systems
Jan. 1, 2012 - Dec. 31, 2017
Simulation and optimal control of the dynamics of multibody systems in biomechanics and robotics
Dec. 1, 2008 - Dec. 1, 2011
Involved external institutions
United Kingdom (GB)How to cite
APA:
Gail, T., Ober-Blöbaum, S., & Leyendecker, S. (2017). Variational multirate integration in discrete mechanics and optimal control. In Proceedings of the ECCOMAS Thematic Conference on Mutlibody Dynamics. Prague, CZ.
MLA:
Gail, Tobias, Sina Ober-Blöbaum, and Sigrid Leyendecker. "Variational multirate integration in discrete mechanics and optimal control." Proceedings of the ECCOMAS Thematic Conference on Multibody Dynamics, Prague 2017.
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