Pryce John D. and Nedialkov Nedialko S.: Multibody dynamics in natural coordinates through automatic differentiation and high-index DAE solving. In: Acta cybernetica, (24) 3. pp. 315-341. (2020)
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Abstract
The Natural Coordinates (NCs) method for Lagrangian modelling and simulation of multibody systems is valued for giving simple, sparse models. We describe our version of it and compare with the classical approach of Jal´on and Bayo (JBNCs). Our NCs use the high-index differential-algebraic equation solver Daets. Algorithmic differentiation, not symbolic algebra, forms the equations of motion from the Lagrangian. We obtain significantly smaller equation systems than JBNCs, at the cost of a non-constant mass matrix for fully 3D models—a minor downside in the Daets context. Examples in 2D and 3D are presented, with numerical results.
| Item Type: | Article |
|---|---|
| Heading title: | Uncertainty modeling, software verified computing and optimization |
| Journal or Publication Title: | Acta cybernetica |
| Date: | 2020 |
| Volume: | 24 |
| Number: | 3 |
| ISSN: | 0324-721X |
| Page Range: | pp. 315-341 |
| Language: | English |
| Publisher: | University of Szeged, Institute of Informatics |
| Place of Publication: | Szeged |
| Event Title: | Summer Workshop on Interval Methods (11.) (2018) (Rostock) |
| Related URLs: | http://acta.bibl.u-szeged.hu/69263/ |
| DOI: | 10.14232/actacyb.24.3.2020.4 |
| Uncontrolled Keywords: | Számítástechnika, Kibernetika, Algoritmus, Differenciálegyenlet |
| Additional Information: | Bibliogr.: p. 340-341. ; összefoglalás angol nyelven |
| Subjects: | 01. Natural sciences 01. Natural sciences > 01.01. Mathematics 01. Natural sciences > 01.02. Computer and information sciences |
| Date Deposited: | 2020. Jul. 30. 13:00 |
| Last Modified: | 2022. Jun. 21. 09:48 |
| URI: | http://acta.bibl.u-szeged.hu/id/eprint/69284 |
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