4 papers
Model order reduction via Lie groups
Yannik P. Wotte, Patrick Buchfink, Silke Glas +2
Lie groups and their actions are ubiquitous in the description of physical systems, and we explore implications in the setting of model order reduction (MOR). We present a novel fr…
Symmetric Lyapunov Subcenter Manifolds for Periodic Regulation of Mechanical Systems
Yannik P. Wotte, Arne Sachtler, Alin Albu-Schäffer +3
Multi-body mechanical systems have rich internal dynamics, whose solutions can be exploited as energy-efficient control targets. Yet, solutions non-trivially depend on system param…
Optimal Potential Shaping on SE(3) via Neural ODEs on Lie Groups
Yannik P. Wotte, Federico Califano, Stefano Stramigioli
This work presents a novel approach for the optimization of dynamic systems on finite-dimensional Lie groups. We rephrase dynamic systems as so-called neural ordinary differential…
Swing-Up of a Weakly Actuated Double Pendulum via Nonlinear Normal Modes
Arne Sachtler, Davide Calzolari, Maximilian Raff +5
We identify the nonlinear normal modes spawning from the stable equilibrium of a double pendulum under gravity, and we establish their connection to homoclinic orbits through the u…