Within the multibody systems literature, few attempts have been made to use automatic differentiation for solving forward multibody dynamics and evaluating its computational efficiency. The most relevant implementations are found in the sensitivity analysis field, but they rarely address automatic differentiation issues in depth. This paper presents a thorough analysis of automatic differentiat...

NONLINEAR CONTROL OF MULTIBODY SYSTEMS WITH SYMMETRIESVIA SHAPE CHANGE

When performing dynamic analysis of a constrained mechanical system, a set of index three differential-algebraic equations (DAE) describes the time evolution of the system. The paper presents a state space based method for the numerical solution of the resulting DAE. A subset of so-called independent generalized coordinates, equal in number to the number of degrees of freedom of the mechanical ...

This paper consists of two parts. The first part presents a complementarity based recursive scheme to model intermittent contact for flexible multibody systems. A recursive divide and conquer framework is used to explicitly impose the bilateral constraints in the entire system. The presented approach is an extension of the hybrid scheme for rigid multibody systems to allow for small deformation...

A novel approach for designing feedback controllers for natural mechanical systems using quasi velocities is presented. The approach is relevant to the stabilization and regulation of finite-dimensional multibody systems. In particular the globally asymptotically stable linear feedback of Rodrigues parameters and angular velocity is taken from spacecraft attitude control and applied to a broade...

Hessenberg differential algebraic equations (Hessenberg-DAEs) with a high index play critical role in the modeling of mechanical systems and multibody dynamics. Motivated by widely used Lie-group equation (LGDAE) method, which handles index-2 systems, we first propose modified extended (MELGDAE) method for solving index-3 Hessenberg-DAEs then provide theoretical analysis to deepen foundation ME...

Abstract Design optimization of flexible multibody dynamics is critical to reducing weight and therefore increasing efficiency lowering costs mechanical systems. Simulation systems, though, typically requires high computational effort which limits the usage design optimization, especially when gradient-free methods are used thousands system evaluations required. Efficient enabled by gradient-ba...

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 ...