A backwards error analysis approach for simulation and control of nonsmooth mechanical systems

David Pekarek*, Todd D. Murphey

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations

Abstract

This paper presents an original structured integration scheme for Lagrangian systems undergoing elastic impacts due to unilateral constraints. In deriving the method, a backwards error analysis approach establishes a discrete time conservation law for impacts using the notion of a modified system Hamiltonian. Shortcomings of existing simulation methods that do not use this conservation law are demonstrated both analytically and in simulation. Relative to these methods, our scheme provides advantages in terms of discrete time energy behavior, accuracy of trajectories, and consistent order of accuracy of the method.

Original languageEnglish (US)
Title of host publication2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Pages6942-6949
Number of pages8
DOIs
StatePublished - 2011
Event2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 - Orlando, FL, United States
Duration: Dec 12 2011Dec 15 2011

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
CountryUnited States
CityOrlando, FL
Period12/12/1112/15/11

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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