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 |
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Pages (from-to) | 411-420 |
Number of pages | 10 |
Journal | European journal of control |
Volume | 10 |
Issue number | 5 |
DOIs | |
Publication status | Published - 1 Jan 2004 |
Keywords
- Hamiltonian Control Systems
- Mechanical Systems
- Nonlinear Control