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UID:DSC-6053
DTSTART;TZID=Europe/Berlin:20131218T170000
SEQUENCE:1386861271
TRANSP:OPAQUE
DTEND;TZID=Europe/Berlin:20131218T180000
URL:https://www.dresden-science-calendar.de/calendar/en/detail/6053
LOCATION:TUD Willers-Bau\, Zellescher Weg 12-1401069 Dresden
SUMMARY:Leyendecker: A discrete variational approach to optimal control pro
 blems in multibody dynamics 
CLASS:PUBLIC
DESCRIPTION:Speaker: Prof. Dr. Sigrid Leyendecker \nInstitute of Speaker:  
 Eleonore-Trefftz-Vorlesungen im Dresdner Mathematischen Seminar Prof. Dr. 
 Sigrid Leyendecker Friedrich-Alexander Universität Erlangen-Nürnberg\, L
 ehrstuhl für Technische Dynamik \nTopics:\nMathematik\n Location:\n  Name
 : TUD Willers-Bau (WIL C 307)\n  Street: Zellescher Weg 12-14\n  City: 010
 69 Dresden\n  Phone: \n  Fax: \nDescription: Im Rahmen des Dresdner Mathem
 atischen Seminars finden in diesem Semester eine Reihe von Eleonore-Trefft
 z-Vorlesungen statt\, welche durch das Eleonore-Trefftz-Gastprofessorinnen
 programm der Exzellenzinitiative gefördert werden.    The benefits of str
 ucture preserving algorithms - which can for example be derived via a disc
 rete variational principle - for the numerical time-integration of mechani
 cal systems are widely accepted in forward dynamic simulations. On the one
  hand\, the fidelity of the approximate solution is improved compared to s
 tandard methods by inheriting certain characteristic properties of the con
 tinuous motion to the discrete trajectory. For example\, the evolution of 
 the system’s energy or momentum maps exactly represents externally appli
 ed forces\, in particular they are conserved along the approximate motion 
 of unforced systems. Furthermore\, the symplectic structure underlying rea
 l dynamics is respected by certain mechanical integrators. On the other ha
 nd\, the preservation of these quantities stabilises the numerical integra
 tion and thus enables longterm simulation. However\, in the field of motio
 n planning and optimal control via direct methods\, so far\, these benefit
 s have been less used.  The dynamic optimisation method DMOCC (Discrete Me
 chanics and Optimal Control for Constrained Systems) presented in this tal
 k\, does exploit the structure preserving properties of a variational inte
 grator within an optimal control problem. It is applied to the optimal con
 trol of multibody dynamics\, where the interconnections between different 
 rigid or elastic structures are modelled as holonomic constraints. When si
 mulating the dynamics of three-dimensional\, possibly non-convex multibody
  systems\, the detection and treatment of contact imposes quite a challeng
 e. Monopedal jumping as well as the gait of a compass biped walker are con
 sidered as examples of hybrid systems\, where the dynamics is subject to a
 n inherent switch due to the closing or opening of contacts between the fo
 ot and the ground.
DTSTAMP:20260818T121833Z
CREATED:20131011T112306Z
LAST-MODIFIED:20131212T151431Z
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