Direct simulation of mechanical control systems using algorithmic differentiation

Klaus Röbenack; Jan Winkler; Carsten Knoll

Direct simulation of mechanical control systems using algorithmic differentiation

Research output: Book/Conference proceeding/Anthology/Report › Monograph › Contributed › peer-review

Contributors

Klaus Röbenack - , Chair of Control Theory (Author)
Jan Winkler - , Chair of Control Theory (Author)
Carsten Knoll - , Chair of Fundamentals of Electrical Engineering (Author)

Abstract

A method for direct simulation of mechanical systems is provided which makes use of the algorithmic differentiation package ADOL-C avoiding symbolic or numeric calculation of derivatives. A framework is proposed which makes this software package available under MATLAB/SIMULINK for straightforward simulation purposes. The usefulness of the approach is illustrated by the example of Euler-Lagrange control systems.

Details

Original language	English
Number of pages	7
Volume	56
Publication status	Published - 2011
Peer-reviewed	Yes

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ORCID	/0000-0002-3347-0864/work/142255176

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