By Topic

A backwards error analysis approach for simulation and control of nonsmooth mechanical systems

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Pekarek, D. ; Northwestern Univ., Evanston, IL, USA ; Murphey, T.D.

This paper presents an original structured integration scheme for Lagrangian systems undergoing elastic impacts due to unilateral constraints. In deriving the method, a backwards error analysis approach establishes a discrete time conservation law for impacts using the notion of a modified system Hamiltonian. Shortcomings of existing simulation methods that do not use this conservation law are demonstrated both analytically and in simulation. Relative to these methods, our scheme provides advantages in terms of discrete time energy behavior, accuracy of trajectories, and consistent order of accuracy of the method.

Published in:

Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on

Date of Conference:

12-15 Dec. 2011