Siebert, Ralf: Mechanical integrators for the optimal control in multibody dynamicsMechanische Integratoren für die optimale Steuerung in der Mehrkörperdynamik. 2012
Inhalt
- Front page
- Abstract
- Zusammenfassung
- Vorwort
- Contents
- 1. Introduction
- 2. Basics of optimal control
- 2.1. Continuous optimal control
- 2.2. Discrete optimal control
- 2.3. Review of numerical optimal control methods
- 3. Equations of motion
- 3.1. Dynamics of constrained mechanical systems with size reduction
- 3.2. Basic and reduced energy-momentum scheme
- 3.3. Connection with generalized coordinates
- 4. Rigid body dynamics
- 4.1. Spatial rigid body
- 4.2. Kinematic pairs
- 4.3. Consistent incorporation of control torques
- 4.4. Consistent incorporation of linear viscous friction
- 5. Alternative rigid body formulation: Quaternions
- 5.1. Basics of quaternions
- 5.2. Rigid body dynamics
- 5.3. Hamilton equations of motion
- 5.4. Conserving discretization
- 5.5. Steady precession of a gyro top
- 5.6. Concluding remarks on quaternions
- 6. Optimal control with equations of motion in ODE-form
- 7. Optimal control with equations of motion in DAE-form
- 8. Hamiltonian conserving indirect optimal control method
- 9. Summary and outlook
- A. Details of the implementationof the REM
- B. Details of the implementationof the BEM
- Bibliography