NONLINEAR PROGRAMMING METHOD FOR THE EULER- LAGRANGE EQUATIONS IN MULTIBODY SYSTEM DYNAMICS

A constrained variable metric method for solving Euler-Lagrange equations in multibody system dynamics was preseod. The framework was based on the conversion of the equations into a nonlinear programming problem. The algorithm overcomes effectively the problem of violating constraints in integral procedure. It is versatile and suitable for computerization. Numerical examples show that algorithm is numerically efficient.