Direct sensitivity analysis of planar multibody systems in the Hamiltonian framework

  • Paweł MaciągEmail author
  • Paweł Malczyk
  • Janusz Frączek
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


Optimal design of multibody systems is of primary importance to researchers working in various fields. The goal of the paper is to present a novel Hamiltonian based approach for finding design sensitivities of multibody systems (MBS) through the use of direct differentiation method. The total derivatives of Hamiltonian equations of motion (EOM) based on the augmented Lagrangian in terms of the design are determined in the text. An algorithm for the evaluation of a gradient of an objective function is also delivered. Sample test case is presented that demonstrates the validity of the proposed approach.


sensitivity analysis direct differentitation method optimization multibody systems 


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This work has been supported by National Science Center under grant No. 2018/29/B/ST8/00374. The first author would also like to acknowledge the support of the Institute of Aeronautics and Applied Mechanics funds for scientific research.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Paweł Maciąg
    • 1
    Email author
  • Paweł Malczyk
    • 1
  • Janusz Frączek
    • 1
  1. 1.Division of Theory of Machines and Robots, Institute of Aeronautics and Applied Mechanics, Faculty of Power and Aeronautical EngineeringWarsaw University of TechnologyWarsawPoland

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