Volterra paper

This repo contains the code used to generate plots presented in the paper Development of an Efficient Formulation for Volterra’s Equations of Motion for Multibody Dynamical Systems.

Three folders are provided that correspond to three case studies provided in the paper. Each folder contains subfolders named after the method used. Each subfolder contains a RunMe.m that should be used to run the corresponding approach. These approaches are:

1. Gibbs-Appel
2. Maggi
3. Lagrange
4. Efficient Volterra (proposed).

Also, to regenerate the exact plots shown in the paper, run the code inside "Graphs" subfolder in each folder. Run the RunMe.m in "Errors Graph" folder to generate the error plots throughout the paper, and run RunMe.m in "GCs graph" to plot the graph of generalized coordinates.

Furthermore, to plot snapshots or animations, uncomment the appropriate sections in `RunMe.m'

First case study

This example considers a cart and a 2-DOF pendulum, as shown below.

Second case study

In this example, a satelite to which two solar panels are attached, is considered.

Third case study

This example considers a rigid body to which a deplyable boom is attached. The system is shown below.

Citation

If you found this code useful and used it in your research code, please cite the paper as

@article{yoosefian2024development,
  title={Development of an Efficient Formulation for Volterra’s Equations of Motion for Multibody Dynamical Systems},
  author={Yoosefian Nooshabadi, Mohammad Hussein and Nejat Pishkenari, Hossein},
  journal={Scientia Iranica},
  year={2024},
  publisher={Sharif University of Technology}
}