Design of data-driven Hamiltonian models for complex mechatronic systems and their application in energy-based control

Dr. Dmitry Gromov

The project made a substantial advancement in developing a rigorous mathematical framework for reconstructing port-Hamiltonian models of complex mechatronic systems based on observed data. By using advanced data-driven techniques, we developed an approach to approximate the underlying system dynamics while preserving critical physical properties, such as invariants and vibrational modes. This potentially enables the creation of accurate models that could be used for energy-based feedback control design. The developed method has been applied to an elastic gantry crane at Clausthal University of Technology, a system known for its susceptibility to structural vibrations. Through this application, the project addressed the challenge of real-time control in dynamically changing conditions, contributing significantly to the field of mechatronics and control engineering. Based upon the results of the project we prepared a draft, which – after further extension and elaboration – will be submitted as a journal paper.

Direct: participants of the project.                             Number: 3

Indirect: members of the respective scientific groups,   current and prospective students of both groups.   Number: 60