Multibody dynamics in natural coordinates through automatic differentiation and high-index DAE solving

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
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: https://doi.org/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 > 01.02. Computer and information sciences
Date Deposited: 2020. Jul. 30. 13:00
Last Modified: 2020. Jul. 30. 13:00
URI: http://acta.bibl.u-szeged.hu/id/eprint/69284

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