Port-Hamiltonian approaches to motion generation for mechanical systems

Satoru Sakai, Stefano Stramigioli

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    5 Citations (Scopus)
    81 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 languageEnglish
    Title of host publicationProceedings of the IEEE International Conference on Robotics and Automation, ICRA 2007
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages1948-1953
    Number of pages6
    ISBN (Print)1-4244-0602-1
    DOIs
    Publication statusPublished - Apr 2007
    Event2007 IEEE International Conference on Robotics and Automation, ICRA 2007 - Rome, Italy
    Duration: 10 May 200714 May 2007

    Conference

    Conference2007 IEEE International Conference on Robotics and Automation, ICRA 2007
    Abbreviated titleICRA
    CountryItaly
    CityRome
    Period10/05/0714/05/07

    Keywords

    • IR-63959
    • EWI-9430
    • METIS-245703

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