Structure Preserving Adaptive Control of Port-Hamiltonian Systems

被引：31

作者：

Dirksz, Daniel A. ^{[1
]}

Scherpen, Jacquelien M. A. ^{[1
]}

机构：

[1] Univ Groningen, Fac Math & Nat Sci, NL-9747 AG Groningen, Netherlands

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2012年 / 57卷 / 11期

关键词：

Adaptive control; Euler-Lagrange; nonlinear systems; port-Hamiltonian; STABILIZATION; INTERCONNECTION; TRACKING;

D O I：

10.1109/TAC.2012.2192359

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this technical note, an adaptive control scheme is presented for general port-Hamiltonian systems. Adaptive control is used to compensate for control errors that are caused by unknown or uncertain parameter values of a system. The adaptive control is also combined with canonical transformation theory for port-Hamiltonian systems. This allows for the adaptive control to be applied on a large class of systems and for being included in the port-Hamiltonian framework.

引用

页码：2879 / 2885

页数：7

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