This paper gives new motion generation methods for mechanical port-Hamiltonian systems. First, we propose a generation method based on an asymptotic stabilization method without damping assignment. This asymptotic stabilization method preserves the Hamiltonian structure in the closed-loop system although the controller itself is not a port- Hamiltonian system. Second, we propose another method based on an adaptive asymptotic stabilization method for unknown damping. This adaptive asymptotic stabilizer does not use the value and the sign of the damping at all. Finally, we confirm the effectiveness of our techniques in some numerical simulation.
|Title of host publication||Proceedings of the IEEE International Conference on Robotics and Automation, ICRA 2007|
|Number of pages||6|
|Publication status||Published - Apr 2007|
|Event||2007 IEEE International Conference on Robotics and Automation, ICRA 2007 - Rome, Italy|
Duration: 10 May 2007 → 14 May 2007
|Conference||2007 IEEE International Conference on Robotics and Automation, ICRA 2007|
|Period||10/05/07 → 14/05/07|