1 Aalborg U Robotics, The Faculty of Humanities, Aalborg University, VBN2 The Faculty of Engineering and Science (TECH), Aalborg University, VBN3 Department of Computer Science, The Technical Faculty of IT and Design, Aalborg University, VBN4 Distributed Systems and Semantics, The Technical Faculty of IT and Design, Aalborg University, VBN5 Aalborg University Space Center, The Technical Faculty of IT and Design, Aalborg University, VBN6 Automation & Control, The Technical Faculty of IT and Design, Aalborg University, VBN7 Department of Electronic Systems, The Technical Faculty of IT and Design, Aalborg University, VBN
This paper proposes a method for discretizing the state space of mechanical systems. This is a first attempt in using reduction techniques for mechanical systems in the partitioning of the state space. The method relies on a combination of transversal and tangential manifolds for the conservative mechanical system. The tangential manifolds are generated using constants of motion, which can be derived from Noether's theorem. The transversal manifolds are subsequently generated on a reduced space, given by the Routhian, via action-angle coordinates. The method fully applies for integrable systems. We focus on a particular aspect of abstraction - partitioning the state space, as existing methods can be applied on the discretized state space to obtain an automata-based model. The contribution of the paper is to show that well-known reduction methods can be used to generate abstract models, which can be used for formal verification.
Ifac Proceedings Volumes, 2012, p. 96-101
Main Research Area:
I F a C Workshop Series
4th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, 2012