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Discrete-time port-Hamiltonian systems and control
Multi angle
Authors : Kotyczka, Paul (Author of the conference)
CIRM (Publisher )
93C55 - Discrete-time
93C57 - Sampled-data
37M15 - Symplectic integrators
65P10 - Hamiltonian systems including symplectic integrators
CIRM (Publisher )
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Abstract :
Port-Hamiltonian (PH) systems' theory is a powerful framework for modeling, simulation and control of interconnected multiphysical systems. A consistent numerical treatment of PH systems requires the preservation of the underlying Dirac structure, which represents interconnections and energy conversions. In this talk it will be shown how symplectic integration can be used to define discrete-time PH systems and to implement nonlinear controls in slowly sampled systems with high accuracy.
Keywords : Port-Hamiltonian systems; structure-preserving integration; symplectic integrators; discrete-time systems; sampled-data control
MSC Codes : Keywords : Port-Hamiltonian systems; structure-preserving integration; symplectic integrators; discrete-time systems; sampled-data control
93C55 - Discrete-time
93C57 - Sampled-data
37M15 - Symplectic integrators
65P10 - Hamiltonian systems including symplectic integrators
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Information on the Video
Film maker : Hennenfent, GuillaumeLanguage : English Available date : 02/05/2022 Conference Date : 21/04/2022 Subseries : Research talks arXiv category : Systems and Control ; Optimization and Control Mathematical Area(s) : Control Theory & Optimization ; Dynamical Systems & ODE Format : MP4 (.mp4) - HD Video Time : 00:39:03 Targeted Audience : Researchers ; Graduate Students ; Doctoral Students, Post-Doctoral Students Download : https://videos.cirm-math.fr/2022-04-21_Kotyczka.mp4 
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Information on the Event
Event Title : Energy-Based Modeling, Simulation, and Control of Complex Constrained Multiphysical Systems / Modélisation structurée, intégration géométrique et commande de systèmes multiphysiques contraintsEvent Organizers : Kotyczka, Paul ; Le Gorrec, Yann ; Matignon, Denis ; Scherpen, Jacquelien ; Unger, Benjamin Dates : 18/04/2022 - 22/04/2022 Event Year : 2022 Event URL : https://conferences.cirm-math.fr/2560.html
Citation Data
DOI : 10.24350/CIRM.V.19908403Cite this video as: Kotyczka, Paul (2022). Discrete-time port-Hamiltonian systems and control. CIRM. Audiovisual resource. doi:10.24350/CIRM.V.19908403 URI : http://dx.doi.org/10.24350/CIRM.V.19908403 |
See Also
- [Multi angle] Dual field port-Hamiltonian systems / Author of the conference Stramigioli, Stefano.
- [Multi angle] Decay rate of pH systems with boundary dissipation / Author of the conference Morris, Kirsten.
- [Multi angle] Symplectic model reduction of Hamiltonian systems on nonlinear manifolds / Author of the conference Glas, Silke.
- [Multi angle] Deep learning of diffeomorphisms for optimal reparametrizations of shapes / Author of the conference Celledoni, Elena.
Bibliography
- KOTYCZKA, Paul et LEFEVRE, Laurent. Discrete-time port-Hamiltonian systems: A definition based on symplectic integration. Systems & Control Letters, 2019, vol. 133, p. 104530. - https://doi.org/10.1016/j.sysconle.2019.104530
- KOTYCZKA, Paul et THOMA, Tobias. Symplectic discrete-time energy-based control for nonlinear mechanical systems. Automatica, 2021, vol. 133, p. 109842. - https://doi.org/10.1016/j.automatica.2021.109842
- THOMA, Tobias, WU, Xuwei, DIETRICH, Alexander, et al. Symplectic Discrete-Time Control of Flexible-Joint Robots: Experiments with Two Links. IFAC-PapersOnLine, 2021, vol. 54, no 19, p. 1-7. - https://doi.org/10.1016/j.ifacol.2021.11.046
- KOTYCZKA, Paul, MARTENS, Christian J., et LEFÈVRE, Laurent. High Order Discrete-Time Control Based on Gauss-Legendre Collocation. IFAC-PapersOnLine, 2021, vol. 54, no 19, p. 237-242. - https://doi.org/10.1016/j.ifacol.2021.11.084
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