Passivity-preserving splitting methods for rigid body systems

DOI10.1007/S11044-018-9628-5MaRDI QIDQ1722664zbMATH OpenOpenAlexFDO

Authors Elena Celledoni, Eirik Hoel Høiseth, Nataliya Ramzina

Publication date 18 February 2019

Published in Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1408.2544

zbMATH Keywords

differential equationsmultibody dynamicspassivitystructure preservationtime integration

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

Abstract: A rigid body model for the dynamics of a marine vessel, used in simulations of offshore pipe-lay operations, gives rise to a set of ordinary differential equations with controls. The system is input-output passive. We propose passivity-preserving splitting methods for the numerical solution of a class of problems which includes this system as a special case. We prove the passivity-preservation property for the splitting methods, and we investigate stability and energy behaviour in numerical experiments. Implementation is discussed in detail for a special case where the splitting gives rise to the subsequent integration of two completely integrable flows. The equations for the attitude are reformulated on $SO(3)$ using rotation matrices rather than local parametrizations with Euler angles.

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Cited in

(2)

• Port-Hamiltonian flexible multibody dynamics
• Commutator-based operator splitting for linear port-Hamiltonian systems

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