4 papers
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…
Discrete nonlinear elastodynamics in a port-Hamiltonian framework
Philipp L. Kinon, Tobias Thoma, Peter Betsch +1
We provide a fully nonlinear port-Hamiltonian formulation for discrete elastodynamical systems as well as a structure-preserving time discretization. The governing equations are ob…
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…
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…