Discretization schemes for constraint stabilization in nonlinear differential-algebraic systems
| Main Author: | Di Franco, Pierluigi; Scarciotti, Giordano; Astolfi, Alessandro |
|---|---|
| Format: | Proceeding eJournal |
| Terbitan: |
, 2018
|
| Subjects: | |
| Online Access: |
https://zenodo.org/record/2601500 |
Daftar Isi:
- In this paper the problem of simulation of differential-algebraic systems is addressed. In modelling mechanical systems the use of redundant coordinates and constraints results in differential-algebraic equations, the integration of which can lead to numerical instabilities, such as the so-called drift phenomenon. In [1] the authors have proposed a globally convergent conceptual continuous-time algorithm for the integration of constrained mechanical systems which ensures the existence of solutions and global attractivity of the solution manifold. The objective of this paper is to study the numerical implementation of the algorithm presented in [1]. In addition, the stability properties of the constrained system in the manifold are studied in both the continuous and discrete time cases. The proposed technique is illustrated by means of a simple example.
- 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. P. Di Franco, G. Scarciotti, and A. Astolfi, "Discretization schemes for constraint stabilization in nonlinear differential-algebraic systems," European Control Conference (ECC), Limassol, Cyprus, June 2018, pp. 539-544. doi: 10.23919/ECC.2018.8550189.