Passivity based control of hydraulic robot arms using natural Casimir functions: Theory and experiments

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    8 Citations (Scopus)

    Abstract

    This paper gives a new passivity based control of hydraulic arms based on a new model using “natural��? Casimir functions. Not only passivity but also Casimir functions are used in the modeling and control as a new structural property. First, we refer port-Hamiltonian systems and their properties. Second, we propose two stabilization methods, a new dynamic asymptotic stabilization method and a new partial stabilization method. Third, we give a new model of hydraulic arms using Casimir functions. Furthermore, the proposed two stabilization methods are applied to this model and finally, the validity of our methods are confirmed by not only numerical simulations but also experiments even thought the bulk modulus is not identified at all.
    Original languageUndefined
    Title of host publicationIntelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
    PublisherIEEE
    Pages538-544
    Number of pages6
    ISBN (Print)978-1-4244-2057-5
    DOIs
    Publication statusPublished - 2008
    Event2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2008 - Nice, France
    Duration: 22 Sep 200826 Sep 2008

    Publication series

    Name
    Number412

    Conference

    Conference2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2008
    Abbreviated titleIROS
    CountryFrance
    CityNice
    Period22/09/0826/09/08

    Keywords

    • METIS-255444
    • EWI-14878

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