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Title:

Symplectic discrete-time energy-based control for nonlinear mechanical systems

Document type:
Zeitschriftenaufsatz
Author(s):
Kotyczka, P.; Thoma, T.
Abstract:
In this article we present a novel discrete-time design approach which reduces the deteriorating effects of sampling on stability and performance in digitally controlled nonlinear mechanical systems. The method is motivated by recent results for linear systems, where feedback imposes closed-loop behavior that exactly represents the symplectic discretization of a desired target system. In the nonlinear case, both the second order accurate representation of the sampling process and the definition...     »
Keywords:
Computed torque; Discrete-time control; Energy shaping; Nonlinear mechanical systems; Passivity-based control; Sampled-data systems; Structure-preserving methods; Störmer–Verlet; Symplectic integration
Dewey Decimal Classification:
620 Ingenieurwissenschaften
Journal title:
Automatica
Year:
2021
Year / month:
2021-11
Quarter:
4. Quartal
Month:
Nov
Journal issue:
Vol. 133, Article number 109842
Covered by:
Scopus
Reviewed:
ja
Language:
en
Fulltext / DOI:
doi:10.1016/j.automatica.2021.109842
WWW:
https://doi.org/10.1016/j.automatica.2021.109842
E-ISSN:
00051098
Status:
Erstveröffentlichung
Submitted:
09.06.2021
TUM Institution:
Lehrstuhl für Regelungstechnik
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