Port-based asymptotic curve tracking for mechanical systems

Vincent Duindam; Stefano Stramigioli

doi:10.3166/ejc.10.411-420

Port-based asymptotic curve tracking for mechanical systems

Vincent Duindam^*, Stefano Stramigioli

^*Corresponding author for this work

Research output: Contribution to journal › Article › Academic › peer-review

64 Citations (Scopus)

23 Downloads (Pure)

Abstract

We examine the control problem of curve-tracking for a fully actuated mechanical system. Using a coordinate transformation on the momentum variables, we split the kinetic energy of the system in a desired and an undesired part, and then design an (intrinsically passive) controller as an interconnection of port-Hamiltonian subsystems, in such a way that asymptotic convergence to the desired curve is obtained. We illustrate the performance in a simulation.

Original language	English
Pages (from-to)	411-420
Number of pages	10
Journal	European journal of control
Volume	10
Issue number	5
DOIs	https://doi.org/10.3166/ejc.10.411-420
Publication status	Published - 1 Jan 2004

Keywords

Hamiltonian Control Systems
Mechanical Systems
Nonlinear Control

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10.3166/ejc.10.411-420

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AB - We examine the control problem of curve-tracking for a fully actuated mechanical system. Using a coordinate transformation on the momentum variables, we split the kinetic energy of the system in a desired and an undesired part, and then design an (intrinsically passive) controller as an interconnection of port-Hamiltonian subsystems, in such a way that asymptotic convergence to the desired curve is obtained. We illustrate the performance in a simulation.

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KW - Nonlinear Control

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Port-based asymptotic curve tracking for mechanical systems

Abstract

Keywords

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