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Symbolic-numeric indirect method for solving optimal control problems for large multibody systems. (English) Zbl 1104.70003

This paper presents a procedure for solving optimal control problems for multibody and mechatronic systems. This procedure allows to obtain necessary optimality conditions and their Jacobians, based on calculus of variation and on a new formulation for boundary conditions. The algorithm proposed to solve the boundary value problem is based on an affine invariant Newton scheme.

MSC:

70-08 Computational methods for problems pertaining to mechanics of particles and systems
70Q05 Control of mechanical systems
49N90 Applications of optimal control and differential games
70E55 Dynamics of multibody systems
49-04 Software, source code, etc. for problems pertaining to calculus of variations and optimal control
70-04 Software, source code, etc. for problems pertaining to mechanics of particles and systems

Software:

COOPT; SNOPT
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Full Text: DOI

References:

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