Optimal Control of Open–Loop Multibody Systems Recovered from Data

In this paper, we consider data–driven models of open–loop multi–rigid–body systems. Such models may possess uncertain coefficients or additional state–dependent terms, which are not present in the nominal system. This may cause performance issues when the adjoint–based optimal control is applied. A sample test case illustrates the robustness of the optimal control with respect to modeling errors. This paper’s paramount goal is to discuss results obtained from applying optimal control adjoint-based scheme to an open–loop multi–rigid–body system, the model of which was identified from data.