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doi:10.22028/D291-37190
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: | SciDok - Der Wissenschaftsserver der Universität des Saarlandes |
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