A Globally Stable Algorithm for the Integration of High-Index Differential-Algebraic Systems

被引：6

作者：

Di Franco, Pierluigi ^{[1
]}

Scarciotti, Giordano ^{[1
]}

Astolfi, Alessandro ^{[1
,2
]}

机构：

[1] Imperial Coll London, Dept Elect & Elect Engn, London SW7 2AZ, England

[2] Univ Roma Tor Vergata, Dept Civil Engn & Comp Sci Engn, Rome 00133, Italy

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2020年 / 65卷 / 05期

关键词：

Indexes; Mathematical model; Manifolds; Stability analysis; Control theory; Mechanical systems; Nonlinear systems; Constraint stabilization; differential-algebraic systems; nonlinear systems; numerical integration; FEEDBACK STABILIZATION; CONSTRAINT VIOLATION; NUMERICAL-SIMULATION; LYAPUNOV THEOREM; ZERO DYNAMICS; EQUATIONS; ELIMINATION; DAES;

D O I：

10.1109/TAC.2019.2939638

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The problem of constraint stabilization and numerical integration for differential-algebraic systems is addressed using Lyapunov theory. It is observed that the application of stabilization methods which rely on a linear feedback mechanism to nonlinear systems may result in trajectories with finite escape time. To overcome this problem, we propose a method based on a nonlinear stabilization mechanism that guarantees the global existence and convergence of the solutions. Discretization schemes, which preserve the properties of the method, are also presented. The results are illustrated by means of the numerical integration of a slider-crank mechanism.

引用

页码：2107 / 2122

页数：16

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