Paweł Maciąg

Paweł Maciąg
Warsaw University of Technology · division of Theory of Machine and Robots

Master of Science

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6
Publications
324
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23
Citations

Publications

Publications (6)
Article
Full-text available
This paper presents a joint–coordinate adjoint method for optimal control of multi-rigid-body systems. Initially formulated as a set of differential-algebraic equations, the adjoint system is brought into a minimal form by projecting the original expressions into the joint’s motion and constraint force subspaces. Consequently, cumbersome partial de...
Article
The design of multibody systems involves high fidelity and reliable techniques and formulations that should help the analyst to make reasonable decisions. Given that constrained equations of motion for the simplest of multibody systems are highly nonlinear, determining the sensitivity terms is a computationally intensive and complex process that re...
Chapter
The determination of various parameters or control input signals satisfying particular performance criteria is often addressed with optimization techniques where one aims at minimizing certain quantity, which may be implicitly dependent on the dynamic response of a system. Such an approach requires an efficient and reliable method of gradient calcu...
Chapter
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) bas...
Chapter
Optimal design of multibody systems (MBS) is of primary importance to engineers and researchers working in various fields, e.g.: in robotics or in machine design. The goal of this paper is a development and implementation of systematic methods for finding design sensitivities of multibody system dynamics with respect to design parameters in the pro...
Chapter
Fuzzy logic control is an example of the type of developing the control algorithms using softcomputing, reflecting the imperfections of the real world. The main principle of this type of programming and, therefore, fuzzy logic is to use uncertainty and a part of the truth hidden in the received information in order to achieve the stability and the...

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