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dc.contributor.authorAltmann, Robert
dc.contributor.authorHeiland, Jan
dc.date.accessioned2016-02-06T12:00:00Z
dc.date.accessioned2016-10-05T14:14:03Z
dc.date.available2016-02-06T12:00:00Z
dc.date.available2016-10-05T14:14:03Z
dc.date.issued2015
dc.identifier.urihttp://publications.mfo.de/handle/mfo/1105
dc.descriptionResearch in Pairs 2014en_US
dc.description.abstractWe consider mechanical systems where the dynamics are partially constrained to prescribed trajectories. An example for such a system is a building crane with a load and the requirement that the load moves on a certain path. Modelling the system using Newton's second law- "The force acting on an object is equal to the mass of that object times its acceleration."- and enforcing the servo constraints directly leads to differential-algebraic equations (DAEs) of arbitrarily high index. Typically,the model equations are of index 5 which already poses high regularity conditions. Also, common approaches for the numerical time-integration will likely fail. If one relaxes the servo constraints and considers the system from an optimal control point of view, the strong regularity conditions vanish and the solution can be obtained by standard techniques. By means of a spring-mass system, we illustrate the theoretical and expected numerical difficulties. We show how the formulation of the problem in an optimal control context works and address the solvability of the optimal control system. We discuss that the problematic DAE behavior is still inherent in the optimal control system and show how its evidences depend on the regularization parameters of the optimization.en_US
dc.language.isoenen_US
dc.publisherMathematisches Forschungsinstitut Oberwolfachen_US
dc.relation.ispartofseriesOberwolfach Preprints;2015,18
dc.subjectservo constraintsen_US
dc.subjectinverse dynamicsen_US
dc.subjecthigh-index DAEsen_US
dc.subjectoptimal controlen_US
dc.subjectunderactuated mechanical systemsen_US
dc.titleSimulation of Multibody Systems with Servo Constraints through Optimal Controlen_US
dc.typePreprinten_US
dc.rights.licenseDieses Dokument darf im Rahmen von § 53 UrhG zum eigenen Gebrauch kostenfrei heruntergeladen, gelesen, gespeichert und ausgedruckt, aber nicht im Internet bereitgestellt oder an Außenstehende weitergegeben werden.de
dc.rights.licenseThis document may be downloaded, read, stored and printed for your own use within the limits of § 53 UrhG but it may not be distributed via the internet or passed on to external parties.en
dc.identifier.doi10.14760/OWP-2015-18
local.scientificprogramResearch in Pairs 2014
local.series.idOWP-2015-18
local.subject.msc70
local.subject.msc65
dc.identifier.urnurn:nbn:de:101:1-201602053940
dc.identifier.ppn1653734655


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