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)
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.
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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