Abstract: Commercial multibody system simulation (MBS) tools commonly use a redundant coordinate formulation as part of their modeling strategy. Such multibody systems subject to holonomic constraints result in secondorder dindex ...

Abstract: In this article, a modified gradient approach, based on the adjoint method, is introduced, to deal with optimal control problems involving inequality constraints. A common way to incorporate inequality constraints in the ...

Abstract: The present paper illustrates the potential of the adjoint method for a wide range of optimization problems in multibody dynamics such as inverse dynamics and parameter identification. Although the equations and matrices ...

Abstract: The adjoint method is a very efficient way to compute the gradient of a cost functional associated to a dynamical system depending on a set of input signals. However, the numerical solution of the adjoint differential ...

Abstract: In this article, we discuss a special class of time-optimal control problems for dynamic systems, where the final state of a system lies on a hyper-surface. In time domain, this endpoint constraint may be given by a scalar ...

Abstract: Within the framework of this article, we pursue a novel approach for the determination of time-optimal controls for dynamic systems under observance of end conditions. Such problems arise in robotics, e.g., if the control ...