Discretization schemes for constraint stabilization in nonlinear differential-algebraic systems

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Title: Discretization schemes for constraint stabilization in nonlinear differential-algebraic systems
Authors: Di Franco, P
Scarciotti, G
Astolfi, A
Item Type: Conference Paper
Abstract: In this paper the problem of simulation of differential-algebraic systems is addressed. In modelling me- chanical systems the use of redundant coordinates and con- straints results in differential-algebraic equations, the integra- tion 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.
Issue Date: 27-Jun-2018
Date of Acceptance: 8-Feb-2018
URI: http://hdl.handle.net/10044/1/57667
Publisher: IEEE
Copyright Statement: This paper is embargoed until publication.
Sponsor/Funder: Engineering & Physical Science Research Council (EPSRC)
Commission of the European Communities
Commission of the European Communities
Funder's Grant Number: EP/L014343/1
Conference Name: 2018 European Control Conference
Publication Status: Accepted
Start Date: 2018-06-27
Finish Date: 2018-06-29
Conference Place: Milwaukee, Wisconsin, USA
Embargo Date: publication subject to indefinite embargo
Appears in Collections:Faculty of Engineering
Electrical and Electronic Engineering

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