Port-based finite element model of a flexible link

A. Macchelli, Stefano Stramigioli, C. Melchiorri

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    4 Citations (Scopus)


    In this paper, the finite element approximation of the dynamics of a flexible link is discussed. The starting point is a model in distributed port Hamiltonian form that, differently from the Euler-Bernoulli or Timoshenko beam, is able to describe large deflections in 3-D space. The spatial discretization technique is based on physical considerations so that, by exploiting the geometric structure of a distributed port Hamiltonian system, a finite dimensional approximation still in port Hamiltonian form that obeys to the same energy balance relation of its infinite dimensional counterpart can be obtained.
    Original languageUndefined
    Title of host publicationSeventh IFAC Symposium on Nonlinear Control Systems (2007)
    PagesPaper 27
    Number of pages6
    Publication statusPublished - 2007
    Event7th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2007 - Pretoria, South Africa
    Duration: 22 Aug 200724 Aug 2007
    Conference number: 7

    Publication series

    NameNonlinear Control Systems
    ISSN (Print)1474-6670


    Conference7th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2007
    Abbreviated titleNOLCOS
    Country/TerritorySouth Africa


    • EWI-17311

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