Please use this identifier to cite or link to this item: doi:10.22028/D291-37190
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Title: Gauss’s principle and tracking control of underactuated mechanical systems
Author(s): Konz, Matthias
Rudolph, Joachim
Editor(s): Macchelli, Alessandro
Language: English
Title: IFAC-PapersOnLine
Volume: 54
Issue: 19
Startpage: 365
Endpage: 370
Publisher/Platform: Elsevier
Year of Publication: 2021
Place of the conference: Berlin, Germany
Free key words: mechanics
first-principles
energy methods
tracking control
rigid body
quadcopter
DDC notations: 600 Technology
Publikation type: Conference Paper
Abstract: Gauss’s principle of least constraint is used to derive equations of motion. The principle is then used to motivate a template for the closed loop of the (tracking) controlled system. The control law arises from minimization of the distance between the controlled model and the template in the sense of least constraint. The control template is derived and analysed for the example of a free rigid body. This leads to quite natural formulations of its controlled inertia, damping and stiffness. This template is then used to compute a controller for a quadcopter, an underactuated system. A simulation result for an aerobatic maneuver demonstrates quite good performance of the proposed controller even though there is no formal proof of stability.
DOI of the first publication: 10.1016/j.ifacol.2021.11.104
URL of the first publication: https://www.sciencedirect.com/science/article/pii/S2405896321021285
Link to this record: urn:nbn:de:bsz:291--ds-371909
hdl:20.500.11880/33734
http://dx.doi.org/10.22028/D291-37190
ISSN: 2405-8963
Date of registration: 13-Sep-2022
Notes: IFAC-PapersOnLine, Volume 54, Issue 19, 2021, Pages 365-370
Faculty: NT - Naturwissenschaftlich- Technische Fakultät
Department: NT - Systems Engineering
Professorship: NT - Prof. Dr. Joachim Rudolph
Collections:Die Universitätsbibliographie

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