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Title:

High Order Discrete-Time Control Based on Gauss-Legendre Collocation

Document type:
Konferenzbeitrag
Contribution type:
Textbeitrag / Aufsatz
Author(s):
Kotyczka, P.; Martens, C.J.; Lefèvre, L.
Pages contribution:
pp. 237-242
Abstract:
We present a framework for high order discrete-time implementation of nonlinear control laws, which is based on Gauss-Legendre integration. High order refers to the accuracy of the numerical approximations of the sampled control system model and the desired closed-loop (target) dynamics. The family of symplectic Gauss-Legendre s-stage integration schemes with the highest possible order 2s, which in numerical simulation go along with the conservation of a modified energy, appears as a natural veh...     »
Keywords:
Sampled systems; discrete-time control; nonlinear control; energy-based control; geometric integration
Dewey Decimal Classification:
620 Ingenieurwissenschaften
Editor:
IFAC (International Federation of Automatic Control)
Book / Congress title:
IFAC-PapersOn Line
Congress (additional information):
IFAC Workshop on Lagrangian and Hamiiltonian Methods for Nonlinear Control [7´th, Berlin, 2021]
Volume:
Vol. 54, Issue 19
Date of congress:
11.-13.10.2021
Publisher:
Elsevier
Date of publication:
19.11.2021
Year:
2021
Quarter:
4. Quartal
Year / month:
2021-11
Month:
Nov
Reviewed:
ja
Language:
en
Fulltext / DOI:
doi:10.1016/j.ifacol.2021.11.084
WWW:
https://doi.org/10.1016/j.ifacol.2021.11.084
TUM Institution:
Lehrstuhl für Regelungstechnik
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