Performance of automatic differentiation tools in the dynamic simulation of multibody systems
A multibody dynamics code based on a semi-recursive penalty formulation is presented. Two automatic differentiation tools, ADIC2 and ADOL-C, are used. Five numerical models are used for validation, including a realistic coach model. The advantages of exploiting Jacobian sparsity using automatic differentiation are shown.
automatic differentiation multibody dynamics semi-recursive penalty formulation adic2 operator overloading source-to-source transformation adol-c