Port-based modeling and optimal control for a new very versatile energy efficient actuator

Oscar Gerelli; Raffaella Carloni; Stefano Stramigioli

doi:10.3182/20090909-4-JP-2010.00084

Port-based modeling and optimal control for a new very versatile energy efficient actuator

Oscar Gerelli
, Raffaella Carloni
, Stefano Stramigioli

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

4 Citations (Scopus)

257 Downloads (Pure)

Abstract

In this paper, we analyze in depth the innovative very versatile and energy efficient (V2E2) actuator proposed in Stramigioli et al. (2008). The V2E2 actuator is intended to be used in all kind of robotics and powered prosthetic applications in which energy consumption is a critical issue. In particular, this work focuses on the development of a port-based Hamiltonian model of the V2E2 and presents an optimal control architecture which exploits the intrinsic hybrid characteristics of the actuator design. The optimal control guarantees the minimization of dissipative power losses during torque tracking transients.

Original language	English
Title of host publication	Proceedings of the 9th International Symposium on Robot Control
Place of Publication	Japan
Publisher	IFAC
Number of pages	6
ISBN (Print)	978-3-902661-60-9
DOIs	https://doi.org/10.3182/20090909-4-JP-2010.00084
Publication status	Published - Sept 2009
Event	9th IFAC Symposium on Robot Control, SYROCO 2009 - Gifu, Japan, Gifu, Japan Duration: 9 Sept 2009 → 12 Sept 2009 Conference number: 9

Publication series

Name	Symposium on Robot Control
Publisher	IFAC International Federation of Automatic Control
Number	9

Conference

Conference	9th IFAC Symposium on Robot Control, SYROCO 2009
Abbreviated title	SYROCO 2009
Country/Territory	Japan
City	Gifu
Period	9/09/09 → 12/09/09
Other	September 9-12, 2009

Keywords

METIS-268954
CE-Advanced Robotics
EWI-17143
IR-71687

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10.3182/20090909-4-JP-2010.00084

Cite this

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title = "Port-based modeling and optimal control for a new very versatile energy efficient actuator",

abstract = "In this paper, we analyze in depth the innovative very versatile and energy efficient (V2E2) actuator proposed in Stramigioli et al. (2008). The V2E2 actuator is intended to be used in all kind of robotics and powered prosthetic applications in which energy consumption is a critical issue. In particular, this work focuses on the development of a port-based Hamiltonian model of the V2E2 and presents an optimal control architecture which exploits the intrinsic hybrid characteristics of the actuator design. The optimal control guarantees the minimization of dissipative power losses during torque tracking transients.",

keywords = "METIS-268954, CE-Advanced Robotics, EWI-17143, IR-71687",

author = "Oscar Gerelli and Raffaella Carloni and Stefano Stramigioli",

year = "2009",

month = sep,

doi = "10.3182/20090909-4-JP-2010.00084",

language = "English",

isbn = "978-3-902661-60-9",

series = "Symposium on Robot Control",

publisher = "IFAC",

number = "9",

booktitle = "Proceedings of the 9th International Symposium on Robot Control",

note = "9th IFAC Symposium on Robot Control, SYROCO 2009, SYROCO 2009 ; Conference date: 09-09-2009 Through 12-09-2009",

}

Gerelli, O, Carloni, R & Stramigioli, S 2009, Port-based modeling and optimal control for a new very versatile energy efficient actuator. in Proceedings of the 9th International Symposium on Robot Control., 79, Symposium on Robot Control, no. 9, IFAC, Japan, 9th IFAC Symposium on Robot Control, SYROCO 2009, Gifu, Japan, 9/09/09. https://doi.org/10.3182/20090909-4-JP-2010.00084

Port-based modeling and optimal control for a new very versatile energy efficient actuator. / Gerelli, Oscar; Carloni, Raffaella; Stramigioli, Stefano.
Proceedings of the 9th International Symposium on Robot Control. Japan: IFAC, 2009. 79 (Symposium on Robot Control; No. 9).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

T1 - Port-based modeling and optimal control for a new very versatile energy efficient actuator

AU - Gerelli, Oscar

AU - Carloni, Raffaella

AU - Stramigioli, Stefano

N1 - Conference code: 9

PY - 2009/9

Y1 - 2009/9

N2 - In this paper, we analyze in depth the innovative very versatile and energy efficient (V2E2) actuator proposed in Stramigioli et al. (2008). The V2E2 actuator is intended to be used in all kind of robotics and powered prosthetic applications in which energy consumption is a critical issue. In particular, this work focuses on the development of a port-based Hamiltonian model of the V2E2 and presents an optimal control architecture which exploits the intrinsic hybrid characteristics of the actuator design. The optimal control guarantees the minimization of dissipative power losses during torque tracking transients.

AB - In this paper, we analyze in depth the innovative very versatile and energy efficient (V2E2) actuator proposed in Stramigioli et al. (2008). The V2E2 actuator is intended to be used in all kind of robotics and powered prosthetic applications in which energy consumption is a critical issue. In particular, this work focuses on the development of a port-based Hamiltonian model of the V2E2 and presents an optimal control architecture which exploits the intrinsic hybrid characteristics of the actuator design. The optimal control guarantees the minimization of dissipative power losses during torque tracking transients.

KW - METIS-268954

KW - CE-Advanced Robotics

KW - EWI-17143

KW - IR-71687

U2 - 10.3182/20090909-4-JP-2010.00084

DO - 10.3182/20090909-4-JP-2010.00084

M3 - Conference contribution

SN - 978-3-902661-60-9

T3 - Symposium on Robot Control

BT - Proceedings of the 9th International Symposium on Robot Control

PB - IFAC

CY - Japan

T2 - 9th IFAC Symposium on Robot Control, SYROCO 2009

Y2 - 9 September 2009 through 12 September 2009

ER -

Port-based modeling and optimal control for a new very versatile energy efficient actuator

Abstract

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Keywords

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