Sensitivity analysis for multibody systems formulated on a Lie group

被引：0
作者：
Valentin Sonneville
Olivier Brüls
机构：
[1] University of Liège,Department of Aerospace and Mechanical Engineering (LTAS)
来源：
Multibody System Dynamics | 2014年 / 31卷
关键词：
Multibody systems; Lie groups; Sensitivity analysis; Direct differentiation method; Adjoint variable method;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
A direct differentiation method and an adjoint variable method are proposed for the efficient semi-analytical evaluation of the sensitivities of multibody systems formulated in a matrix Lie group framework. These methods rely on the linearization of the equations of motion and/or of the time integration procedure. The simpler structure of the equations of motion in the Lie group formalism appears as an advantage for that purpose. Lie bracket contributions and the non-linearity of the exponential map need to be taken into account in the sensitivity algorithms. Nevertheless, essential characteristics of formulations of the direct differentiation method and the adjoint variable method on linear spaces are recovered. Some implementation issues are discussed and two relevant examples illustrate the properties of these methods.
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页码：47 / 67
页数：20
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