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Temporal finite element formulation of optimal control in mechanisms
KTH, School of Engineering Sciences (SCI), Mechanics, Structural Mechanics.ORCID iD: 0000-0002-5819-4544
KTH, School of Engineering Sciences (SCI), Mechanics.
2010 (English)In: Computer Methods in Applied Mechanics and Engineering, ISSN 0045-7825, E-ISSN 1879-2138, Vol. 199, no 25-28, 1783-1792 p.Article in journal (Refereed) Published
Abstract [en]

A temporal finite element discretization of a boundary value problem has several advantages compared to a time-integrating evolution form for optimized target movement simulations. The paper gives some basic aspects on how such a finite element form can be stated, with both displacements and controls discretized and seen as unknowns. Aspects on the resulting formulations are discussed. Important issues are the order, continuity and fineness of the discretizations. When the formulation is seen in an optimization context, minimizing the effort for a prescribed movement, the discretization affects the results obtained in several manners, where some aspects of results are artifacts. The paper discusses these effects from basic principles, but also verifies them in numerical simulations.

Place, publisher, year, edition, pages
2010. Vol. 199, no 25-28, 1783-1792 p.
Keyword [en]
Mechanisms, Optimal control, Biomechanics, Mathematical foundation, Numerical implementation, Discretization effects
National Category
Mechanical Engineering
URN: urn:nbn:se:kth:diva-27550DOI: 10.1016/j.cma.2010.02.003ISI: 000278349800012ScopusID: 2-s2.0-77952551155OAI: diva2:378776
Swedish Research Council
QC 20101216Available from: 2010-12-16 Created: 2010-12-13 Last updated: 2010-12-16Bibliographically approved

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Eriksson, AndersNordmark, Arne
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