Optimal Control of a Spatial Inverted Pendulum Using the Adjoint Method

EasyChair Preprint 13352

Abstract

The determination of critical parameters or control signals of a multibody system (MBS) is a common problem arising in the~analysis and~synthesis of dynamic systems. The indirect methods of optimal control constitute a powerful toolbox to address these complex non-linear problems. The adjoint method is one such approach, which has been employed in various applications, such as parameter identification or sensitivity analysis of systems with flexible components. This contribution presents how the adjoint method can be utilized to control complex electromechanical multibody system with closed-loop kinematic chain. The test model investigated in this paper is a spatial MBS composed of an inverted pendulum and a~five-bar linkage. Its motion is modeled with a set of Hamilton's equations of motion in redundant coordinates. Although the underlying dynamic problem is highly non-linear, we reported a satisfactory convergence of the optimization procedure.

Keyphrases: Multibody dynamics, Optimization, adjoint method

@booklet{EasyChair:13352,
  author    = {Paweł Maciąg and Paweł Malczyk and Janusz Frączek},
  title     = {Optimal Control of a Spatial Inverted Pendulum Using the Adjoint Method},
  howpublished = {EasyChair Preprint 13352},
  year      = {EasyChair, 2024}}