کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
4643549 1341385 2006 18 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Symbolic-numeric efficient solution of optimal control problems for multibody systems
موضوعات مرتبط
مهندسی و علوم پایه ریاضیات ریاضیات کاربردی
پیش نمایش صفحه اول مقاله
Symbolic-numeric efficient solution of optimal control problems for multibody systems
چکیده انگلیسی

This paper presents an efficient symbolic-numerical approach for generating and solving the boundary value problem-differential algebraic equation (BVP-DAE) originating from the variational form of the optimal control problem (OCP). This paper presents the method for the symbolic derivation, by means of symbolic manipulation software (Maple), of the equations of the OCP applied to a generic multibody system. The constrained problem is transformed into a nonconstrained problem, by means of the Lagrange multipliers and penalty functions. From the first variation of the nonconstrained problem a BVP-DAE is obtained, and the finite difference discretization yields a nonlinear systems. For the numerical solution of the nonlinear system a damped Newton scheme is used. The sparse and structured Jacobians is quickly inverted by exploiting the sparsity pattern in the solution strategy. The proposed method is implemented in an object oriented fashion, and coded in C++ language. Efficiency is ensured in core routines by using Lapack and Blas for linear algebra.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Journal of Computational and Applied Mathematics - Volume 185, Issue 2, 15 January 2006, Pages 404–421
نویسندگان
, , ,