English
Discrete-time port-Hamiltonian systems and control
Multi angle
Auteurs : Kotyczka, Paul (Auteur de la Conférence)
CIRM (Editeur )
93C55 - Discrete-time
93C57 - Sampled-data
37M15 - Symplectic integrators
65P10 - Hamiltonian systems including symplectic integrators
CIRM (Editeur )
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Résumé :
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
Codes MSC : 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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Informations sur la Vidéo
Réalisateur : Hennenfent, GuillaumeLangue : Anglais Date de publication : 02/05/2022 Date de captation : 21/04/2022 Sous collection : Research talks arXiv category : Systems and Control ; Optimization and Control Domaine : Control Theory & Optimization ; Dynamical Systems & ODE Format : MP4 (.mp4) - HD Durée : 00:39:03 Audience : Researchers ; Graduate Students ; Doctoral Students, Post-Doctoral Students Download : https://videos.cirm-math.fr/2022-04-21_Kotyczka.mp4 
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Informations sur la Rencontre
Nom de la rencontre : Energy-Based Modeling, Simulation, and Control of Complex Constrained Multiphysical Systems / Modélisation structurée, intégration géométrique et commande de systèmes multiphysiques contraintsOrganisateurs de la rencontre : Kotyczka, Paul ; Le Gorrec, Yann ; Matignon, Denis ; Scherpen, Jacquelien ; Unger, Benjamin Dates : 18/04/2022 - 22/04/2022 Année de la rencontre : 2022 URL Congrès : https://conferences.cirm-math.fr/2560.html
Données de citation
DOI : 10.24350/CIRM.V.19908403Citer cette vidéo: 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 |
Voir aussi
- [Multi angle] Dual field port-Hamiltonian systems / Auteur de la Conférence Stramigioli, Stefano.
- [Multi angle] Decay rate of pH systems with boundary dissipation / Auteur de la Conférence Morris, Kirsten.
- [Multi angle] Symplectic model reduction of Hamiltonian systems on nonlinear manifolds / Auteur de la Conférence Glas, Silke.
- [Multi angle] Deep learning of diffeomorphisms for optimal reparametrizations of shapes / Auteur de la Conférence Celledoni, Elena.
Bibliographie
- 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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