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See detailThe generalized-alpha method in mechatronic applications
Bruls, Olivier ULg; Golinval, Jean-Claude ULg

in ZAMM-Zeitschrift fur Angewandte Mathematik und Mechanik (2006), 86(10 Sp. Iss. SI), 748-758

This paper presents an extension of the generalized-a time-integrator to mechatronic systems represented by coupled first and second-order DAEs. A simple reformulation of those equations as full second ... [more ▼]

This paper presents an extension of the generalized-a time-integrator to mechatronic systems represented by coupled first and second-order DAEs. A simple reformulation of those equations as full second-order DAEs allows the implementation of a monolithic integration scheme, so that the numerical dissipation properties are preserved, and second-order accuracy is obtained at least in the unconstrained case. The algorithmic parameters can be optimized either for the mechanical or the control subsystem. Two illustrative applications are treated in the fields of vehicle dynamics and robotics. [less ▲]

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