Feedback Linearizable Discretizations of Second Order Mechanical Systems using Retraction Maps
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arXiv
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| Hauptverfasser: | , , |
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| Format: | Preprint |
| Veröffentlicht: |
2024
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| _version_ | 1866912056049926144 |
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| author | B., Shreyas N. Diego, David Martin Banavar, Ravi |
| author_facet | B., Shreyas N. Diego, David Martin Banavar, Ravi |
| contents | Mechanical systems are most often described by a set of continuous-time, nonlinear, second-order differential equations (SODEs) of a particular structure governed by the covariant derivative. The digital implementation of controllers for such systems requires a discrete model of the system and hence requires numerical discretization schemes. Feedback linearizability of such sampled systems, however, depends on the discretization scheme employed. In this article, we utilize retraction maps and their lifts to construct feedback linearizable discretizations for SODEs which can be applied to many mechanical systems. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_18422 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Feedback Linearizable Discretizations of Second Order Mechanical Systems using Retraction Maps B., Shreyas N. Diego, David Martin Banavar, Ravi Systems and Control Mechanical systems are most often described by a set of continuous-time, nonlinear, second-order differential equations (SODEs) of a particular structure governed by the covariant derivative. The digital implementation of controllers for such systems requires a discrete model of the system and hence requires numerical discretization schemes. Feedback linearizability of such sampled systems, however, depends on the discretization scheme employed. In this article, we utilize retraction maps and their lifts to construct feedback linearizable discretizations for SODEs which can be applied to many mechanical systems. |
| title | Feedback Linearizable Discretizations of Second Order Mechanical Systems using Retraction Maps |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2403.18422 |