Port-Hamiltonian approaches to motion generation for mechanical systems

Satoru Sakai; Stefano Stramigioli

doi:10.1109/ROBOT.2007.363607

Port-Hamiltonian approaches to motion generation for mechanical systems

Satoru Sakai, Stefano Stramigioli

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

5 Citations (Scopus)

182 Downloads (Pure)

Abstract

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.

Original language	English
Title of host publication	Proceedings of the IEEE International Conference on Robotics and Automation, ICRA 2007
Publisher	IEEE
Pages	1948-1953
Number of pages	6
ISBN (Print)	1-4244-0602-1
DOIs	https://doi.org/10.1109/ROBOT.2007.363607
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

Conference	2007 IEEE International Conference on Robotics and Automation, ICRA 2007
Abbreviated title	ICRA
Country/Territory	Italy
City	Rome
Period	10/05/07 → 14/05/07

Keywords

IR-63959
EWI-9430
METIS-245703

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10.1109/ROBOT.2007.363607

04209371

Cite this

@inproceedings{10e1eb484d2c461694b60995d34c5abb,

title = "Port-Hamiltonian approaches to motion generation for mechanical systems",

abstract = "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.",

keywords = "IR-63959, EWI-9430, METIS-245703",

author = "Satoru Sakai and Stefano Stramigioli",

note = "Port Hamiltonian Systems, Oscillation, Non linear Control; 2007 IEEE International Conference on Robotics and Automation, ICRA 2007, ICRA ; Conference date: 10-05-2007 Through 14-05-2007",

year = "2007",

month = apr,

doi = "10.1109/ROBOT.2007.363607",

language = "English",

isbn = "1-4244-0602-1",

pages = "1948--1953",

booktitle = "Proceedings of the IEEE International Conference on Robotics and Automation, ICRA 2007",

publisher = "IEEE",

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TY - GEN

T1 - Port-Hamiltonian approaches to motion generation for mechanical systems

AU - Sakai, Satoru

AU - Stramigioli, Stefano

N1 - Port Hamiltonian Systems, Oscillation, Non linear Control

PY - 2007/4

Y1 - 2007/4

N2 - 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.

AB - 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.

KW - IR-63959

KW - EWI-9430

KW - METIS-245703

U2 - 10.1109/ROBOT.2007.363607

DO - 10.1109/ROBOT.2007.363607

M3 - Conference contribution

SN - 1-4244-0602-1

SP - 1948

EP - 1953

BT - Proceedings of the IEEE International Conference on Robotics and Automation, ICRA 2007

PB - IEEE

T2 - 2007 IEEE International Conference on Robotics and Automation, ICRA 2007

Y2 - 10 May 2007 through 14 May 2007

ER -

Port-Hamiltonian approaches to motion generation for mechanical systems

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Keywords

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