相关论文: Discrete Control Systems
A hybrid integrator-gain system (HIGS) is a control element that switches between an integrator and a gain, which overcomes some inherent limitations of linear controllers. In this paper, we consider using discrete-time HIGS controllers for…
Discrete abstractions of continuous and hybrid systems have recently been the topic of great interest from both the control systems and the computer science communities, because they provide a sound mathematical framework for analysing and…
We consider the continuous and discrete-time Hamilton's variational principle on phase space, and characterize the exact discrete Hamiltonian which provides an exact correspondence between discrete and continuous Hamiltonian mechanics. The…
Studying structural properties of linear dynamical systems through invariant subspaces is one of the key contributions of the geometric approach to system theory. In general, a model of the dynamics is required in order to compute the…
Singular theories, characterised by the presence of degeneracies in their Lagrangian or Hamiltonian descriptions, require the systematic implementation of constraints in order to obtain well-defined dynamics. While the symplectic framework…
In this paper we investigate a variational discretization for the class of mechanical systems in presence of symmetries described by the action of a Lie group which reduces the phase space to a (non-trivial) principal bundle. By introducing…
In this paper we explore the nonholonomic Lagrangian setting of mechanical systems in local coordinates on finite-dimensional configuration manifolds. We prove existence and uniqueness of solutions by reducing the basic equations of motion…
The purpose of this paper is to describe geometrically discrete Lagrangian and Hamiltonian Mechanics on Lie groupoids. From a variational principle we derive the discrete Euler-Lagrange equations and we introduce a symplectic 2-section,…
This note proposes a general control approach, called vector-field guided constraint-following control, to solve the dynamics control problem of geometric path-following for a class of uncertain mechanical systems. More specifically, it…
Port-Hamiltonian systems provide an energy-based formulation with a model class that is closed under structure preserving interconnection. For continuous-time systems these interconnections are constructed by geometric objects called Dirac…
This paper presents a continuous and discrete Lagrangian theory for stochastic Hamiltonian systems on manifolds. The main result is to derive stochastic governing equations for such systems from a critical point of a stochastic action.…
This paper deals with time-optimal control of nonlinear continuous-time systems based on direct collocation. The underlying discretization grid is variable in time, as the time intervals are subject to optimization. This technique differs…
This work proposes a hyper-reduction method for nonlinear parametric dynamical systems characterized by gradient fields such as Hamiltonian systems and gradient flows. The gradient structure is associated with conservation of invariants or…
Models involving hybrid systems are versatile in their application but difficult to optimize efficiently due to their combinatorial nature. This work presents a method to cope with hybrid optimal control problems which, in contrast to…
Dynamical System (DS)-based closed-loop control is a simple and effective way to generate reactive motion policies that well generalize to the robotic workspace, while retaining stability guarantees. Lately the formalism has been expanded…
We propose a discretization of vector fields that are Hamiltonian up to multiplication by a positive function on the phase space that may be interpreted as a time reparametrization. We prove that our method is structure preserving in the…
Many important physical systems can be described as the evolution of a Hamiltonian system, which has the important property of being conservative, that is, energy is conserved throughout the evolution. Physics Informed Neural Networks and…
The problem of real-time control and optimization of components' routing in discrete manufacturing plants, where distinct items must undergo a sequence of jobs, is considered. This problem features a large number of discrete control inputs…
This paper is devoted to discrete mechanical systems subject to external forces. We introduce a discrete version of systems with Rayleigh-type forces, obtain the equations of motion and characterize the equivalence for these systems.…
In this paper, we continue the construction of variational integrators adapted to contact geometry started in \cite{VBS}, in particular, we introduce a discrete Herglotz Principle and the corresponding discrete Herglotz Equations for a…