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Titel:

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

Dokumenttyp:
Konferenzbeitrag
Art des Konferenzbeitrags:
Textbeitrag / Aufsatz
Autor(en):
Kotyczka, P.; Martens, C.J.; Lefèvre, L.
Seitenangaben Beitrag:
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...     »
Stichworte:
Sampled systems; discrete-time control; nonlinear control; energy-based control; geometric integration
Dewey-Dezimalklassifikation:
620 Ingenieurwissenschaften
Herausgeber:
IFAC (International Federation of Automatic Control)
Kongress- / Buchtitel:
IFAC-PapersOn Line
Kongress / Zusatzinformationen:
IFAC Workshop on Lagrangian and Hamiiltonian Methods for Nonlinear Control [7´th, Berlin, 2021]
Band / Teilband / Volume:
Vol. 54, Issue 19
Datum der Konferenz:
11.-13.10.2021
Verlag / Institution:
Elsevier
Publikationsdatum:
19.11.2021
Jahr:
2021
Quartal:
4. Quartal
Jahr / Monat:
2021-11
Monat:
Nov
Reviewed:
ja
Sprache:
en
Volltext / DOI:
doi:10.1016/j.ifacol.2021.11.084
WWW:
https://doi.org/10.1016/j.ifacol.2021.11.084
TUM Einrichtung:
Lehrstuhl für Regelungstechnik
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