Paul Kotyczka
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Whole-body impedance control of wheeled mobile manipulators
A Dietrich, K Bussmann, F Petit, P Kotyczka, C Ott, B Lohmann, ...
Autonomous Robots 40 (3), 505-517, 2016
Weak form of Stokes–Dirac structures and geometric discretization of port-Hamiltonian systems
P Kotyczka, B Maschke, L Lefèvre
Journal of Computational Physics 361, 442-476, 2018
Passivity and structure preserving order reduction of linear port-Hamiltonian systems using Krylov subspaces
T Wolf, B Lohmann, R Eid, P Kotyczka
European Journal of Control 16 (4), 401-406, 2010
Local linear dynamics assignment in IDA-PBC
P Kotyczka
Automatica 49 (4), 1037-1044, 2013
Discrete-time port-Hamiltonian systems: A definition based on symplectic integration
P Kotyczka, L Lefevre
Systems & Control Letters 133, 104530, 2019
Finite differences on staggered grids preserving the port-Hamiltonian structure with application to an acoustic duct
V Trenchant, H Ramirez, Y Le Gorrec, P Kotyczka
Journal of Computational Physics 373, 673-697, 2018
Energy shaping for position and speed control of a wheeled inverted pendulum in reduced space
S Delgado, P Kotyczka
Automatica 74, 222-229, 2016
Finite volume structure-preserving discretization of 1D distributed-parameter port-Hamiltonian systems
P Kotyczka
IFAC-PapersOnLine 49 (8), 298-303, 2016
A peer-to-peer trilateral passivity control for delayed collaborative teleoperation
M Panzirsch, J Artigas, A Tobergte, P Kotyczka, C Preusche, ...
International Conference on Human Haptic Sensing and Touch Enabled Computer …, 2012
Parametrization of IDA-PBC by assignment of local linear dynamics
P Kotyczka, B Lohmann
2009 European Control Conference (ECC), 4721-4726, 2009
Structure preserving spatial discretization of 2D hyperbolic systems using staggered grids finite difference
V Trenchant, H Ramirez, Y Le Gorrec, P Kotyczka
2017 American Control Conference (ACC), 2491-2496, 2017
Numerical Methods for Distributed Parameter Port-Hamiltonian Systems
P Kotyczka
TUM.University Press, Munich, 2019
Discretized models for networks of distributed parameter port-Hamiltonian systems
P Kotyczka
nDS'13; Proceedings of the 8th International Workshop on Multidimensional …, 2013
Discrete-time port-Hamiltonian systems based on Gauss-Legendre collocation
P Kotyczka, L Lefèvre
IFAC-PapersOnLine 51 (3), 125-130, 2018
Discrete port-Hamiltonian formulation and numerical approximation for systems of two conservation laws
P Kotyczka, B Maschke
at-Automatisierungstechnik 65 (5), 308-322, 2017
Modeling, discretization and motion control of a flexible beam in the port-Hamiltonian framework
M Wang, A Bestler, P Kotyczka
IFAC-PapersOnLine 50 (1), 6799-6806, 2017
Local linear dynamics assignment in IDA-PBC for underactuated mechanical systems
P Kotyczka
2011 50th IEEE Conference on Decision and Control and European Control …, 2011
Transparente Dynamikvorgabe bei der nichtlinearen passivitätsbasierten Zustandsregelung
P Kotyczka
Passivity preserving order reduction of linear port-Hamiltonian systems by moment matching
B Lohmann, T Wolf, R Eid, P Kotyczka
Lehrstuhl für Regelungstechnik, 2009
Passivity based trajectory tracking control with predefined local linear error dynamics
P Kotyczka, A Volf, B Lohmann
Proceedings of the 2010 American Control Conference, 3429-3434, 2010
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Articles 1–20