Discrete Adjoint Method for Variational Integration of Constrained ODEs and its application to Optimal Control of Geometrically Exact Beam Dynamics

Matthias Schubert, Rodrigo T. Sato Martín de Almagro, Karin Nachbagauer +2

Direct methods for the simulation of optimal control problems apply a specific discretization to the dynamics of the problem, and the discrete adjoint method is suitable to calcula…