Embedded control synthesis using one-step methods in discrete mechanics

Jarvis Schultz, Todd D. Murphey

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

3 Scopus citations

Abstract

Low bandwidth control and estimation for nonlinear systems presents a challenging problem that is often encountered when dealing with implementation on an embedded platform. Discrete mechanics techniques for system modeling are well-suited to low-bandwidth applications because they possess desirable numerical properties over a large range of timesteps including exact constraint conservation, and excellent Hamiltonian and momentum behaviors.We present an overview of a variational integrator based discrete mechanics system representation and corresponding state choice that allows the discrete flow to be expressed as a one-step map as required by classical digital control design tools. This modeling paradigm is used to experimentally control an underactuated, nonlinear system with low frequency control. Simulations of the experimental system demonstrate significantly better extended Kalman filter performance using the present framework over a traditional one-step Euler approximation.

Original languageEnglish (US)
Title of host publication2013 American Control Conference, ACC 2013
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5293-5298
Number of pages6
ISBN (Print)9781479901777
DOIs
StatePublished - 2013
Event2013 1st American Control Conference, ACC 2013 - Washington, DC, United States
Duration: Jun 17 2013Jun 19 2013

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Other

Other2013 1st American Control Conference, ACC 2013
CountryUnited States
CityWashington, DC
Period6/17/136/19/13

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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