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Discrete-time IDA-PBC design for underactuated Hamiltonian systems

Discrete-time IDA-PBC design for underactuated Hamiltonian systems
Discrete-time IDA-PBC design for underactuated Hamiltonian systems
We develop a discrete-time counterpart of IDA-PBC design for a class of Hamiltonian systems. Euler approximate models are used to obtain discrete-time control laws, which are constructed using the coordinate increment discrete gradient. This approach results in a type of discrete-time controller that can be seen as a simple modification of an emulation controller obtained by sample and hold of the continuous-time IDA-PBC controller. However, this simple modification provides a solution to the crucial problem of Hamiltonian conservation. In addition, due to the extra flexibility possessed by the proposed discrete-time IDA-PBC design, it has the capacity that yields a significant improvement to the performance of the sampled-data control system
1-4244-0209-3
IEEE
Laila, Dina Shona
41aa5cf9-3ec2-4fdf-970d-a0a349bfd90c
Astolfi, Alessandro
3045f9a9-e8f3-4f19-9f5d-08364de75cdb
Laila, Dina Shona
41aa5cf9-3ec2-4fdf-970d-a0a349bfd90c
Astolfi, Alessandro
3045f9a9-e8f3-4f19-9f5d-08364de75cdb

Laila, Dina Shona and Astolfi, Alessandro (2006) Discrete-time IDA-PBC design for underactuated Hamiltonian systems. In Proceedings of American Control Conference 2006. IEEE. 6 pp . (doi:10.1109/ACC.2006.1655352).

Record type: Conference or Workshop Item (Paper)

Abstract

We develop a discrete-time counterpart of IDA-PBC design for a class of Hamiltonian systems. Euler approximate models are used to obtain discrete-time control laws, which are constructed using the coordinate increment discrete gradient. This approach results in a type of discrete-time controller that can be seen as a simple modification of an emulation controller obtained by sample and hold of the continuous-time IDA-PBC controller. However, this simple modification provides a solution to the crucial problem of Hamiltonian conservation. In addition, due to the extra flexibility possessed by the proposed discrete-time IDA-PBC design, it has the capacity that yields a significant improvement to the performance of the sampled-data control system

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Published date: 14 June 2006
Venue - Dates: 2006 American Control Conference, Minneapolis, United States, 2006-06-14 - 2006-06-16
Organisations: Mechatronics

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Local EPrints ID: 353726
URI: http://eprints.soton.ac.uk/id/eprint/353726
ISBN: 1-4244-0209-3
PURE UUID: d88c8699-bb78-4451-a161-72b596094b16

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Date deposited: 24 Jun 2013 12:55
Last modified: 14 Mar 2024 14:09

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Contributors

Author: Dina Shona Laila
Author: Alessandro Astolfi

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