Sensitivity analysis for multibody systems formulated on a Lie group

Sonneville, Valentin; Bruls, Olivier

doi:10.1007/s11044-013-9345-z

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Article (Scientific journals)

Sensitivity analysis for multibody systems formulated on a Lie group

Sonneville, Valentin; Bruls, Olivier

2014 • In Multibody System Dynamics, 31, p. 47-67

Peer reviewed

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https://hdl.handle.net/2268/145175

DOI
10.1007/s11044-013-9345-z

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Keywords :

Multibody systems; Lie group; Sensitivity analysis

Abstract :

[en] 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.

Disciplines :

Mechanical engineering

Author, co-author :

Sonneville, Valentin ; Université de Liège - ULiège > Département d'aérospatiale et mécanique > Laboratoire des Systèmes Multicorps et Mécatroniques

Bruls, Olivier ; Université de Liège - ULiège > Département d'aérospatiale et mécanique > Laboratoire des Systèmes Multicorps et Mécatroniques

Language :

English

Title :

Sensitivity analysis for multibody systems formulated on a Lie group

Publication date :

January 2014

Journal title :

Multibody System Dynamics

ISSN :

1384-5640

eISSN :

1573-272X

Publisher :

Springer, Dordrecht, Netherlands

Volume :

Pages :

47-67

Peer reviewed :

Peer reviewed

Funders :

FRIA - Fonds pour la Formation à la Recherche dans l'Industrie et dans l'Agriculture [BE]

Available on ORBi :

since 20 March 2013

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