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Titel:

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

Dokumenttyp:
Zeitschriftenaufsatz
Autor(en):
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...     »
Stichworte:
Computed torque; Discrete-time control; Energy shaping; Nonlinear mechanical systems; Passivity-based control; Sampled-data systems; Structure-preserving methods; Störmer–Verlet; Symplectic integration
Dewey Dezimalklassifikation:
620 Ingenieurwissenschaften
Zeitschriftentitel:
Automatica
Jahr:
2021
Jahr / Monat:
2021-11
Quartal:
4. Quartal
Monat:
Nov
Heft / Issue:
Vol. 133, Article number 109842
Nachgewiesen in:
Scopus
Reviewed:
ja
Sprache:
en
Volltext / DOI:
doi:10.1016/j.automatica.2021.109842
WWW:
https://doi.org/10.1016/j.automatica.2021.109842
E-ISSN:
00051098
Status:
Erstveröffentlichung
Eingereicht (bei Zeitschrift):
09.06.2021
TUM Einrichtung:
Lehrstuhl für Regelungstechnik
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