Embedded control synthesis using one-step methods in discrete mechanics

Jarvis Schultz; Todd D. Murphey

doi:10.1109/acc.2013.6580664

Embedded control synthesis using one-step methods in discrete mechanics

Jarvis Schultz, Todd D. Murphey

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English (US)
Title of host publication	2013 American Control Conference, ACC 2013
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	5293-5298
Number of pages	6
ISBN (Print)	9781479901777
DOIs	https://doi.org/10.1109/acc.2013.6580664
State	Published - 2013
Event	2013 1st American Control Conference, ACC 2013 - Washington, DC, United States Duration: Jun 17 2013 → Jun 19 2013

Publication series

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

Other

Other	2013 1st American Control Conference, ACC 2013
Country/Territory	United States
City	Washington, DC
Period	6/17/13 → 6/19/13

ASJC Scopus subject areas

Electrical and Electronic Engineering

Access to Document

10.1109/acc.2013.6580664

Cite this

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title = "Embedded control synthesis using one-step methods in discrete mechanics",

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.",

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language = "English (US)",

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Schultz, J & Murphey, TD 2013, Embedded control synthesis using one-step methods in discrete mechanics. in 2013 American Control Conference, ACC 2013., 6580664, Proceedings of the American Control Conference, Institute of Electrical and Electronics Engineers Inc., pp. 5293-5298, 2013 1st American Control Conference, ACC 2013, Washington, DC, United States, 6/17/13. https://doi.org/10.1109/acc.2013.6580664

Embedded control synthesis using one-step methods in discrete mechanics. / Schultz, Jarvis; Murphey, Todd D.
2013 American Control Conference, ACC 2013. Institute of Electrical and Electronics Engineers Inc., 2013. p. 5293-5298 6580664 (Proceedings of the American Control Conference).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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N2 - 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.

AB - 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.

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ER -

Embedded control synthesis using one-step methods in discrete mechanics

Abstract

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