TY - GEN
T1 - Gradient based discrete-time modeling and control of Hamiltonian systems
AU - Goren-Sumer, Leyla
AU - Yalcin, Yaprak
PY - 2008
Y1 - 2008
N2 - A gradient based discrete-time model of continuous Hamiltonian systems with input is proposed and a procedure is given to construct the discrete-time model. The model validation for both separable and non-separable case is done considering the energy relation, additionally stabilizability condition is given and the model is also tested especially for the well-known nonseparable Hamiltonian systems by simulations. After then, the discrete-time counterpart of PBC technique is developed for n-degree of freedom mechanical systems using this proposed discretetime model. The discrete-time control rules which correspond to potential energy shaping and damping assignment are designed directly using the discrete time model of the desired system and the discrete time model of the open loop systems. To illustrate the effectiveness of the proposed method, two non-separable examples are investigated and the simulation results are given.
AB - A gradient based discrete-time model of continuous Hamiltonian systems with input is proposed and a procedure is given to construct the discrete-time model. The model validation for both separable and non-separable case is done considering the energy relation, additionally stabilizability condition is given and the model is also tested especially for the well-known nonseparable Hamiltonian systems by simulations. After then, the discrete-time counterpart of PBC technique is developed for n-degree of freedom mechanical systems using this proposed discretetime model. The discrete-time control rules which correspond to potential energy shaping and damping assignment are designed directly using the discrete time model of the desired system and the discrete time model of the open loop systems. To illustrate the effectiveness of the proposed method, two non-separable examples are investigated and the simulation results are given.
KW - Application of nonlinear analysis and design
KW - Model validation in design methods
KW - Nonlinear system control
UR - http://www.scopus.com/inward/record.url?scp=79961017724&partnerID=8YFLogxK
U2 - 10.3182/20080706-5-KR-1001.1532
DO - 10.3182/20080706-5-KR-1001.1532
M3 - Conference contribution
AN - SCOPUS:79961017724
SN - 9783902661005
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
BT - Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
T2 - 17th World Congress, International Federation of Automatic Control, IFAC
Y2 - 6 July 2008 through 11 July 2008
ER -