Enhancement of the Adjoint Method by Error Control of Accelerations for Parameter Identification in Multibody Dynamics
نویسندگان
چکیده
The present paper shows the embedding of the adjoint method in multibody dynamics and its broad applicability for examples for both, parameter identification and optimal control. Especially, in case of parameter identifications in engineering multibody applications, a theoretical enhancement of the proposed adjoint method by an error control of accelerations is inevitable in order to meet the circumstances of experimental studies using acceleration sensors in general.
منابع مشابه
Optimal Control of Light Propagation Governed by Eikonal Equation within Inhomogeneous Media Using Computational Adjoint Approach
A mathematical model is presented in the present study to control the light propagation in an inhomogeneous media. The method is based on the identification of the optimal materials distribution in the media such that the trajectories of light rays follow the desired path. The problem is formulated as a distributed parameter identification problem and it is solved by a numerical met...
متن کاملOptimal input design for multibody systems by using an extended adjoint approach
We present a method for optimizing inputs of multibody systems for a subsequently performed parameter identification. Herein, optimality with respect to identifiability is attained by maximizing the information content in measurements described by the Fisher information matrix. For solving the resulting optimization problem, the adjoint system of the sensitivity differential equation system is ...
متن کاملThe discrete adjoint method for parameter identification in multibody system dynamics
The adjoint method is an elegant approach for the computation of the gradient of a cost function to identify a set of parameters. An additional set of differential equations has to be solved to compute the adjoint variables, which are further used for the gradient computation. However, the accuracy of the numerical solution of the adjoint differential equation has a great impact on the gradient...
متن کاملهمکاری رباتها در جابجایی جسم نامعین توسط کنترلر امپدانسچندگانه
Parameter identification techniques are particularly attractive to determine the inertial parameters of robot manipulators and manipulated payloads. These parameters are particularly needed in implementation of a model-based controller for robot manipulators. In this paper, the inertial parameters of a manipulated rigid-body object have been estimated. The Newton-Euler equations will be employe...
متن کاملNon-linear Fractional-Order Chaotic Systems Identification with Approximated Fractional-Order Derivative based on a Hybrid Particle Swarm Optimization-Genetic Algorithm Method
Although many mathematicians have searched on the fractional calculus since many years ago, but its application in engineering, especially in modeling and control, does not have many antecedents. Since there are much freedom in choosing the order of differentiator and integrator in fractional calculus, it is possible to model the physical systems accurately. This paper deals with time-domain id...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2015