Symbolic-numeric indirect method for solving optimal control problems for large multibody systems
Software, source code, etc. for problems pertaining to calculus of variations and optimal control (49-04) Applications of optimal control and differential games (49N90) Software, source code, etc. for problems pertaining to mechanics of particles and systems (70-04) Computational methods for problems pertaining to mechanics of particles and systems (70-08) Dynamics of multibody systems (70E55) Control of mechanical systems (70Q05)
This paper presents a procedure for solving optimal control problems for multibody and mechatronic systems. This procedure allows to obtain necessary optimality conditions and their Jacobians, based on calculus of variation and on a new formulation for boundary conditions. The algorithm proposed to solve the boundary value problem is based on an affine invariant Newton scheme.
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