Port-based asymptotic curve tracking for mechanical systems

被引：53

作者：

Duindam, V ^{[1
]}

Stramigioli, S ^{[1
]}

机构：

[1] Univ Twente, Fac EEMCS, Control Lab, NL-7500 AE Enschede, Netherlands

来源：

EUROPEAN JOURNAL OF CONTROL | 2004年 / 10卷 / 05期

关键词：

Hamiltonian control systems; mechanical systems; nonlinear control;

D O I：

10.3166/ejc.10.411-420

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We examine the control problem of curve-tracking for a fully actuated mechanical system. Using a coordinate transformation on the momentum variables, we split the kinetic energy of the system in a desired and an undesired part, and then design an (intrinsically passive) controller as an interconnection of port-Hamiltonian subsystems, in such a way that asymptotic convergence to the desired curve is obtained. We illustrate the performance in a simulation.

引用

页码：411 / 420

页数：10

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