2013 Fiscal Year Final Research Report
A Study of Analysis and Design of Complex Multibody Systems by the Implcit Lagrangian Method
| Project/Area Number |
23560269
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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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 |
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| Project Period (FY) |
2011 – 2013
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| Keywords | 陰的なラグランジュ系 / ディラック構造 / シンプレクティック構造 / マルチボディシステム / ネットワーク構造 / ラグランジュ・ダランベール原理 / ハミルトン・ポントリヤーギン原理 / スパースタブロー法 |
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| Research Abstract |
The purpose of this research is to develop a systematic method of analysis and design for complex multibody systems such as artificial satellite, robots, electric circuits and so on by the theory of implicit Lagrangian systems, which enables us to treat mechanical systems with nonholonomic constraints as well as with Dirac constraints. In this study, we have principally investigated the following items:(1) Decomposition into subsystems and interconnection for structuring systems, (2) Dynamical formalism for moduled implicit Lagrangian systems, (3) Development of discrete Lagrange-d'Alembert principle for structure preserving a numerical integration scheme. Finally, we have shown the validity of the proposed method by some illustrative examples of nonlinear L-C circuits, robots, nonholonomic mechanical systems and space mission design.
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