Structure-preserving optimal control of multibody systems

多体系统的结构保持最优控制

• 批准号: 240990603
• 负责人: Professor Dr.-Ing. Peter Betsch
• 金额: --
• 依托单位: Institut für Mechanik (IFM)
• 依托单位国家: 德国
• 项目类别: Research Grants
• 财政年份: 2013
• 资助国家: 德国
• 起止时间: 2012-12-31 至 2015-12-31
• 项目状态: 已结题
• 来源: https://gepris.dfg.de/gepris/projekt/240990603?language=en
• 关键词: Structure; preserving; optimal; control; multibody

The goal of the present research project is to develop new numerical methods for the optimal control of multibody systems. Energy-efficient movements are important to save resources. In particular, the question is how to control a specific multibody system to minimize the energy consumption. The related optimal control problem can be solved by applying computer simulation. Examples range from robotics to biomechanical locomotion systems. Another example is the optimal attitude control of a spacecraft.The aim of the project is to extend the notion of structure-preserving schemes for the numerical integration of the equations of motion to the realm of optimal control. Structure-preserving numerical methods inherit fundamental physical properties from the underlying mechanical system. Due to their inherent pyhsical consistency, structure-preserving schemes typically lead to superior numerical performance.Optimal control problems typically exhibit characteristic structural properties as well. However, so far, these properties have not been exploited in the development of numerical methods. The research proposal aims at the development of new numerical methods which satisfy fundamental structural properties of the optimal control problem. In particular, the newly proposed structure-preserving approach to optimal control problems should lead to improved numerical stability and convergence properties.

本研究项目的目标是发展新的数值方法的多体系统的最优控制。节能机芯对于节约资源非常重要。特别是，问题是如何控制一个特定的多体系统，以尽量减少能源消耗。相关的最优控制问题可以通过应用计算机模拟来解决。例子从机器人到生物力学运动系统。另一个例子是航天器的最佳姿态控制，该项目的目的是将运动方程数值积分的结构保持方案概念推广到最佳控制领域。结构保持数值方法从底层力学系统继承基本物理性质。由于其内在的物理一致性，结构保持格式通常导致上级数值性能。然而，到目前为止，这些属性还没有被开发的数值方法。研究建议的目的是发展新的数值方法，满足最优控制问题的基本结构特性。特别是，新提出的结构保持最优控制问题的方法，应导致改进的数值稳定性和收敛性能。