Numerically efficient motion planning for the Euler-Bernoulli beam

Authors

Bastian Kupke, Thomas Meurer

Abstract

An inversion-based approach for the Euler-Bernoulli beam modeled in terms of a boundary controlled port-Hamiltonian system is presented. The goal is to achieve an open-loop finite-time transition between steady states. Exchanging the systems input by a new (fictitious) boundary condition in terms of a so-called basic output located at the boundary or inside the spatial domain, the port-Hamiltonian system is reformulated as a boundary value problem in the spatial domain. Input solution samples are numerically calculated with an inverse Laplace transformation or Fast Fourier Transformation algorithm by assigning a suitable desired trajectory for the basic output. The presented solution approach is evaluated by numerical calculations and simulations.

Keywords

distributed parameter system, euler-bernoulli beam, fast fourier transformation, motion planning, partial differential equation, port-hamiltonian system

Citation

• Journal: IFAC-PapersOnLine
• Year: 2025
• Volume: 59
• Issue: 8
• Pages: 249–254
• Publisher: Elsevier BV
• DOI: 10.1016/j.ifacol.2025.08.099
• Note: 5th IFAC Workshop on Control of Systems Governed by Partial Differential Equations - CPDE 2025- Beijing, China, June 18 - 20, 2025

BibTeX

@article{Kupke_2025,
  title={{Numerically efficient motion planning for the Euler-Bernoulli beam}},
  volume={59},
  ISSN={2405-8963},
  DOI={10.1016/j.ifacol.2025.08.099},
  number={8},
  journal={IFAC-PapersOnLine},
  publisher={Elsevier BV},
  author={Kupke, Bastian and Meurer, Thomas},
  year={2025},
  pages={249--254}
}

Download the bib file

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