72 citations · 98 across the 13 of their papers we have counts for
7 papers · 1 filter
Discrete Geometric Modeling and Extended State Estimation of Continuum Robots
Maximilian Herrmann, Leander Pfeiffer, Paul Kotyczka
In this paper, we present a fully discrete approach for the accurate and numerically efficient dynamical modeling and state estimation of continuum robots. The model is based on ge…
Optimal Trajectory Control of Geometrically Exact Strings with Space-Time Finite Elements
Tobias Thoma, Paul Kotyczka
In this contribution, we present a variational space-time formulation which generates an optimal feed-forward controller for geometrically exact strings. More concretely, the optim…
Sampled-Data Control using Hermite-Obreschkoff Methods with an IDA-PBC Example
Le Zhang, Paul Kotyczka
The motivation for this paper is the implementation of nonlinear state feedback control, designed based on the continuous-time plant model, in a sampled control loop under relative…
Structure preserving discontinuous Galerkin approximation of one-dimensional port-Hamiltonian systems
Tobias Thoma, Paul Kotyczka
In this article, we present the structure-preserving discretization of linear one-dimensional port-Hamiltonian (PH) systems of two conservation laws using discontinuous Galerkin (D…
On the velocity-stress formulation for geometrically nonlinear elastodynamics and its structure-preserving discretization
Tobias Thoma, Paul Kotyczka, Herbert Egger
We consider the dynamics of an elastic continuum under large deformation but small strain. Such systems can be described by the equations of geometrically nonlinear elastodynamics…
Explicit Port-Hamiltonian FEM-Models for Linear Mechanical Systems with Non-Uniform Boundary Conditions
Tobias Thoma, Paul Kotyczka
In this contribution we present how to obtain explicit state space models in port-Hamiltonian form when a mixed finite element method is applied to a linear mechanical system with…
Symplectic discrete-time energy-based control for nonlinear mechanical systems
Paul Kotyczka, Tobias Thoma
In this article we present a novel discrete-time design approach which reduces the deteriorating effects of sampling on stability and performance in digitally controlled nonlinear…