Modeling and sensitivity analysis methodology for hybrid dynamical system (Q1730355)

The paper is devoted to the direct sensitivity analysis for hybrid dynamical systems described by the second order ordinary differential equations or by differential algebraic equations with assotiated cost functions. For hybrid system piecewise-smooth trajectories with continuous position state variable and piecewise-continuous velocity state variable are allowed. The authors review the direct sensitivity analysis for unconsrained systems determined by ordinary differential equations and for smooth constrained multibody systems modelled by differential algebraic equations and generalize the direct sensitivity approach to hybrid systems. Graphic representation of the jumps in the sensitivity of the position and in the sensitivity of the velocity is proposed. The authors illustrate the developed approach for hybrid constrained multibody systems on the five-bar mechanism with two degrees of freedom.