A Study on Implicit Lagrangian Systems and its Application to Multibody Dynamics
| Project/Area Number |
20560229
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Dynamics/Control
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| Research Institution | Waseda University |
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Principal Investigator |
YOSHIMURA Hiroaki Waseda University, 理工学術院, 教授 (40247234)
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| Project Period (FY) |
2008 – 2010
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| Project Status |
Completed (Fiscal Year 2010)
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| Budget Amount *help |
¥2,990,000 (Direct Cost: ¥2,300,000、Indirect Cost: ¥690,000)
Fiscal Year 2010: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2009: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2008: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
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| Keywords | 陰的ラグランジュ系 / ディラック構造 / ハミルトン・ポントリヤーギン原理 / リー・ディラック簡約 / 応用数学 / 力学 / 多様体上の解析 / 力学系 |
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| Research Abstract |
The main purpose of this research is to develop a method of design and analysis of multibody dynamics in the context of implicit Lagrangian systems. The results obtained in this research are as follows : (1) Development of Lie-Dirac reduction in which a configuration manifold is given by a Lie group ; (2) Modeling of mechanical networks via interconnection of Dirac structures ; (3) Development of fast and stable integration scheme for multibody dynamics.
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Report
(4 results)
Research Products
(73 results)
