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Adaptive tracking control of fully actuated port-Hamiltonian mechanical systems

D.A. Dirksz, J.M.A. Scherp
<span title="">2010</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/uwicpyhm2bgfneax5csgc6gtbq" style="color: black;">2010 IEEE International Conference on Control Applications</a> </i> &nbsp;
A new adaptive tracking control scheme is presented for standard fully actuated port-Hamiltonian mechanical systems.  ...  Adaptive tracking control of fully actuated port-Hamiltonian mechanical systems. Abstract-In the presence of parameter uncertainty tracking control can result in significant tracking errors.  ...  In this paper we present a new adaptive tracking control scheme for standard fully actuated PH mechanical systems.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/cca.2010.5611301">doi:10.1109/cca.2010.5611301</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/IEEEcca/DirkszS10.html">dblp:conf/IEEEcca/DirkszS10</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/4g65llpqinfffox5isj6rlhcuy">fatcat:4g65llpqinfffox5isj6rlhcuy</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20180722092551/https://pure.rug.nl/ws/files/2581690/2010ProcCCADirksz.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/28/6e/286ee3f42ecfd293f538f4d82d2b2ff665964ca8.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/cca.2010.5611301"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Structure Preserving Adaptive Control of Port-Hamiltonian Systems

Daniel A. Dirksz, Jacquelien M. A. Scherpen
<span title="">2012</span> <i title="Institute of Electrical and Electronics Engineers (IEEE)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/tiaci7xy45hczhz755zlpu5h7q" style="color: black;">IEEE Transactions on Automatic Control</a> </i> &nbsp;
In this paper an adaptive control scheme is presented for general port-Hamiltonian systems.  ...  The adaptive control is also combined with canonical transformation theory for port-Hamiltonian systems.  ...  In the next section we apply the presented adaptive control scheme to tracking control of standard fully-actuated mechanical systems. IV.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/tac.2012.2192359">doi:10.1109/tac.2012.2192359</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/o53c3fq45jbw7ai6kagaigtlsy">fatcat:o53c3fq45jbw7ai6kagaigtlsy</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170813175330/http://www.rug.nl/research/portal/files/2622795/2010ProcMTNSDirksz.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/fb/96/fb9644222930fcdad28fab62c0c6b0a04538117d.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/tac.2012.2192359"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Passivity-based Trajectory-tracking for Marine Craft with Disturbance Rejection

Alejandro Donaire, Jose Guadalupe Romero, Tristan Perez
<span title="">2015</span> <i title="Elsevier BV"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/4oklsgzkjvbihhegxblzc6b7re" style="color: black;">IFAC-PapersOnLine</a> </i> &nbsp;
This can be seen as an enabling step towards the adaptation of the theory of control of port-Hamiltonian systems developed in robotic manipulators and multi-body mechanical systems to the case of marine  ...  As an example of application, we follow this methodology to design a passivitybased tracking controller with integral action for fully actuated vehicles in six degrees of freedom.  ...  This can be seen as an enabling step towards the adaptation of the theory of control of port-Hamiltonian systems developed in robotic manipulators and multi-body mechanical systems to the case of marine  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1016/j.ifacol.2015.10.252">doi:10.1016/j.ifacol.2015.10.252</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/utdohfgxkrb4pdsifswnmxacgu">fatcat:utdohfgxkrb4pdsifswnmxacgu</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20190414144300/https://core.ac.uk/download/pdf/33504617.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/b3/fb/b3fb61d76fc1e73d2ddfa10c1fa3d9d9c51213e8.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1016/j.ifacol.2015.10.252"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> elsevier.com </button> </a>

Tracking Control of Fully-actuated Mechanical port-Hamiltonian Systems using Sliding Manifolds and Contraction [article]

Rodolfo Reyes-Báez, Arjan van der Schaft, Bayu Jayawardhana
<span title="2017-02-08">2017</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
In this paper, we propose a novel trajectory tracking controller for fully-actuated mechanical port-Hamiltonian (pH) systems, which is based on recent advances in contraction-based control theory.  ...  Finally, we present numerical simulation results where a SCARA robot is commanded by our proposed tracking control law.  ...  Mechanical port-Hamiltonian systems Consider the input-state port-Hamiltonian (van der Schaft and Jeltsema (2014)) representation of a fully-actuated mechanical system of the form q p = 0 n I n −I n −D  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1611.07302v4">arXiv:1611.07302v4</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/6za4zxay2jdexa3dazrz2exicu">fatcat:6za4zxay2jdexa3dazrz2exicu</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200910031005/https://arxiv.org/pdf/1611.07302v4.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/08/78/0878b1a54bd0d132355fc71bd8feaa92b882dd2d.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1611.07302v4" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>

Trajectory tracking passivity-based control for marine vehicles subject to disturbances

Alejandro Donaire, Jose Guadalupe Romero, Tristan Perez
<span title="">2017</span> <i title="Elsevier BV"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/k45e5zmenjbd3ewfbaacyemdq4" style="color: black;">Journal of the Franklin Institute</a> </i> &nbsp;
As an example of application, we follow this methodology to design a passivity-based controller with integral action for fully actuated vehicles in six degrees of freedom that tracks time-varying references  ...  We also describe a momentum transformation that allows an alternative model representation of marine craft dynamics that resembles general port-Hamiltonian mechanical systems with a coordinate dependent  ...  This similarities can be exploited to adapt the theory of control of port-Hamiltonian systems developed in robotic manipulators and mechanical systems to the case of marine craft dynamics. Notation.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1016/j.jfranklin.2017.01.012">doi:10.1016/j.jfranklin.2017.01.012</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/ftvfhvz2hzhtvdexgmkpj42xte">fatcat:ftvfhvz2hzhtvdexgmkpj42xte</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20190319054510/https://core.ac.uk/download/pdf/78106129.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/5f/7b/5f7b0596bab45c376ed0646cd380be0f329053d4.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1016/j.jfranklin.2017.01.012"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> elsevier.com </button> </a>

Hamiltonian-based Neural ODE Networks on the SE(3) Manifold For Dynamics Learning and Control [article]

Thai Duong, Nikolay Atanasov
<span title="2021-11-25">2021</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
We develop energy shaping and damping injection control for the learned, potentially under-actuated SE(3) Hamiltonian dynamics to enable a unified approach for stabilization and trajectory tracking with  ...  various platforms, including pendulum, rigid-body, and quadrotor systems.  ...  For fully-actuated (Port-)Hamiltonian systems, it is sufficient to shape the potential energy only using an energy-shaping and damping-injection (ES-DI) controller [38] .  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2106.12782v3">arXiv:2106.12782v3</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/ylpjxbivirazzejwothx6nbs74">fatcat:ylpjxbivirazzejwothx6nbs74</a> </span>
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Internal model based fault tolerant control of a robot manipulator

C. Bonivento, L. Gentili, A. Paoli
<span title="">2004</span> <i title="IEEE"> 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601) </i> &nbsp;
In this paper an implicit fault tolerant control scheme is specialized for an n-dof fully actuated mechanical manipulator subject to various sinusoidal torque disturbances acting on joints.  ...  More in detail we show how a standard tracking controller can be "augmented" with an internal model unit designed so as to compensate the unknown spurious torque harmonics.  ...  n-dof fully actuated mechanical robot.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/cdc.2004.1429643">doi:10.1109/cdc.2004.1429643</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/igdz5v4moba6phzff26tx7lvz4">fatcat:igdz5v4moba6phzff26tx7lvz4</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170809080645/http://www-lar.deis.unibo.it/woda/data/deis-lar-publications/9bd7.Document.pdf?origin=publication_detail" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/d4/47/d44769ae103f52bd9319e8faad53373c9c991718.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/cdc.2004.1429643"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Tracking Control of Fully-actuated port-Hamiltonian Mechanical Systems via Sliding Manifolds and Contraction Analysis

Rodolfo Reyes-Báez, Arjan van der Schaft, Bayu Jayawardhana
<span title="">2017</span> <i title="Elsevier BV"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/4oklsgzkjvbihhegxblzc6b7re" style="color: black;">IFAC-PapersOnLine</a> </i> &nbsp;
In this paper we presented a trajectory tracking controller for fully-actuated port-Hamiltonian mechanical systems.  ...  Tracking Control of Fully-actuated port-Hamiltonian Mechanical Systems via Sliding Manifolds and Contraction Analysis Rodolfo Reyes-Báez * , * * Arjan van der Schaft * , * * Bayu Jayawardhana * , * * *  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1016/j.ifacol.2017.08.1395">doi:10.1016/j.ifacol.2017.08.1395</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/hnxcjww5vffjpmstnm4mpvx25y">fatcat:hnxcjww5vffjpmstnm4mpvx25y</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20180723133506/https://www.rug.nl/research/portal/files/41388200/Rodolfo_IFAC2017_Arxv.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/4e/93/4e93c13059388a9aed941b8a52f3c03474f4fc45.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1016/j.ifacol.2017.08.1395"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> elsevier.com </button> </a>

PORT-BASED CONTROL OF A COMPASS-GAIT BIPEDAL ROBOT

Vincent Duindam, Stefano Stramigioli
<span title="">2005</span> <i title="Elsevier BV"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/p3wtlm3j2fedxitkuu4bs3scau" style="color: black;">IFAC Proceedings Volumes</a> </i> &nbsp;
We examine the control problem of curve-tracking for fully-actuated mechanical systems, applied to walking robots.  ...  First, we discuss earlier results on curve-tracking using a change of coordinates to split the kinetic energy in a desired and an undesired part.  ...  ACKNOWLEDGMENTS This work has been done in the context of the European sponsored project GeoPlex with reference code IST-2001-34166. Further information is available at http://www.geoplex.cc.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3182/20050703-6-cz-1902.00733">doi:10.3182/20050703-6-cz-1902.00733</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/3eigy3qgejdyvbwwspfz3hke44">fatcat:3eigy3qgejdyvbwwspfz3hke44</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20120905001652/http://www.nt.ntnu.no/users/skoge/prost/proceedings/ifac2005/Fullpapers/03237.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/ff/fb/fffba6499c84f1f177833f71fbbfb9ce236c5414.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3182/20050703-6-cz-1902.00733"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> Publisher / doi.org </button> </a>

Decoding and realising flapping flight with port-Hamiltonian system theory

Federico Califano, Ramy Rashad, Alexander Dijkshoorn, Luuk Groot Koerkamp, Riccardo Sneep, Andrea Brugnoli, Stefano Stramigioli
<span title="">2021</span> <i title="Elsevier BV"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/7q5x2aosp5a55jied5vd5jba6m" style="color: black;">Annual Reviews in Control</a> </i> &nbsp;
modelling strategy: we describe the fluid-solid interaction system starting from first principles, in the framework of port-Hamiltonian system theory and its physically unifying character, which will  ...  First of all, the formal conceptualisation of the problem is analysed. Second, the features and capabilities of port-Hamiltonian framework as the underneath mathematical language are presented.  ...  Massaroli (Department of Precision Engineering, The University of Tokyo, 7-1-3 Hongo, Bunkyo, Tokyo, Japan) for the numerous insightful discussions on the relation between AI approaches and port-Hamiltonian  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1016/j.arcontrol.2021.03.009">doi:10.1016/j.arcontrol.2021.03.009</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/kfydtlx6pjbsvfyzji2ie5g3my">fatcat:kfydtlx6pjbsvfyzji2ie5g3my</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20210623081528/https://pdf.sciencedirectassets.com/271897/1-s2.0-S1367578821X00028/1-s2.0-S1367578821000171/main.pdf?X-Amz-Security-Token=IQoJb3JpZ2luX2VjECAaCXVzLWVhc3QtMSJHMEUCIQC6LsacyUrCt4s%2Fk7FsxwyoKuO%2BomEKs8GALtwgvKB3ywIgYE%2FRs6kPPrG0B59HUFYFFYcaO8sgOtbevGqVl%2FFWbmQqgwQI6P%2F%2F%2F%2F%2F%2F%2F%2F%2F%2FARAEGgwwNTkwMDM1NDY4NjUiDB9%2BvDfwKouhLxkM0CrXAyX09HmEe1B1u%2BeIfuI0qLloGGDbqQIQ8%2BWq7jifoZQm0HQzT3LpkfZo9E4i43mq3nopNKBYHxF1mCP60QM7BZTdk27WXIILOEF7CvfLHwU8ckTYBk2i8Fpgols1SZGhy1gqKaXWHCD%2FS6lkbtU%2BYU3Mf9O1t76chUjJsKadm19i0BPU1mTX6fIyElzaRCXqpda%2FhKOxOIVVm3VbAhXGtW5WcqPXeDano%2FJqnxfbwKL6LumRc2ZkkQjrbEnbwqOOF5g4BF%2FiKGiAvtvJfUjLE0Bj5KVNpOePRoUnwR3nwT%2BN5qUb4h0xnCkf2l7D%2BraYn%2BGZJDF7PIK3PwH5ycUI7i1B4y5IfiUeQKgcgikHucebP26ZMg9EOfcIT4%2BGkW9gXqc9OsSkpTAnFOhTQPNGCfOq78WN8G0Hwc0Ac5jLLSSaNFVeZAip6JexLae%2BdSTBa0OPF2N9D3F96nmEjYvu8mU114FT3SxCbVnu25HY%2Bb3C1ei0wcQrgicoxdH0SbqMNj%2BNvYYM%2FrB2LepJlOqgO5%2BH73A2yf5sDh4V8QhRM0z1aXFgeQLc8aW9pYCSOdbRb%2F61Mr41rZR21Oj7n%2F04z2yBfW6Q85OK1MyXoT5%2B5ByanDW1cVx5LDCCwsuGBjqlAarXxfx3kNh30yfj6FwKWQNpbcOHLXcdaxseCj4QsDZGAKiZR4FwWztko%2FUzHq8sK8ecw7jhtPyb3P5m7uI%2FswINJYWQRgDLdrl1%2Bpod4%2FLC3sNFLCfTAzeT51G%2BkFRIth6PE7gRpoicZsnHpSvqBgrLwgCm%2FgOTYLGI9UnixQ6Kg6HpIaW73wGa2uCOjLR6OywFxMHrytAJD7wir3x9yvP%2FbT30Og%3D%3D&amp;X-Amz-Algorithm=AWS4-HMAC-SHA256&amp;X-Amz-Date=20210623T081521Z&amp;X-Amz-SignedHeaders=host&amp;X-Amz-Expires=300&amp;X-Amz-Credential=ASIAQ3PHCVTY2Z4EG4UB%2F20210623%2Fus-east-1%2Fs3%2Faws4_request&amp;X-Amz-Signature=a486cba6cf7be8a1f978fccd978fc825180025a6c88ae5ddaf05d3d836a69d29&amp;hash=1ca1ae68ab7faa0706ee88e42f1029e81e94ad855b1944bf3779395a82307637&amp;host=68042c943591013ac2b2430a89b270f6af2c76d8dfd086a07176afe7c76c2c61&amp;pii=S1367578821000171&amp;tid=spdf-b6a63e15-4cfb-4204-91f4-c9f3967dffd2&amp;sid=498273f1125d054c906b1a2137c289e4a827gxrqa&amp;type=client" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/03/71/0371306bb9d25986751b721bde9b835e0bae68db.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1016/j.arcontrol.2021.03.009"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> elsevier.com </button> </a>

Adaptive Control of SE(3) Hamiltonian Dynamics with Learned Disturbance Features [article]

Thai Duong, Nikolay Atanasov
<span title="2022-03-22">2022</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
We demonstrate our adaptive geometric controller in trajectory tracking simulations of fully-actuated pendulum and under-actuated quadrotor systems.  ...  online adaptive control stage, estimating and compensating the disturbances based on geometric tracking errors.  ...  EVALUATION We evaluate our data-driven geometric adaptive controller on a fully-actuated pendulum and under-actuated quadrotor. A.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2109.09974v2">arXiv:2109.09974v2</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/avdatb3cjzeljnloby5jge3lgy">fatcat:avdatb3cjzeljnloby5jge3lgy</a> </span>
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A family of virtual contraction based controllers for tracking of flexible-joints port-Hamiltonian robots: theory and experiments [article]

Rodolfo Reyes-Báez, Arjan van der Schaft, Bayu Jayawardhana, Le Pan
<span title="2020-02-04">2020</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
In this work we present a constructive method to design a family of virtual contraction based controllers that solve the standard trajectory tracking problem of flexible-joint robots (FJRs) in the port-Hamiltonian  ...  The proposed design method, called virtual contraction based control (v-CBC), combines the concepts of virtual control systems and contraction analysis.  ...  Port-Hamiltonian formulation of mechanical systems Definition 1.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2002.01542v1">arXiv:2002.01542v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/brejmofkk5fdzafuooga2bjrle">fatcat:brejmofkk5fdzafuooga2bjrle</a> </span>
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Stabilization of the Inertia Wheel Inverted Pendulum by Advanced IDA-PBC Based Controllers: Comparative Study and Real-Time Experiments

Afef Hfaiedh, Ahmed Chemori, Afef Abdelkrim
<span title="2020-07-20">2020</span> <i title="IEEE"> 2020 17th International Multi-Conference on Systems, Signals &amp; Devices (SSD) </i> &nbsp;
Interconnection and Damping Assignment Passivity Based Control (IDA-PBC) is a popular control scheme, for the stabilization of underactuated mechanical systems, formulated in Port-Controlled Hamiltonian  ...  The results show a better performance of the nonlinear Proportional Integral IDA-PBC controller compared to the model reference adaptive IDA-PBC controller.  ...  Standard IDA-PBC controller The equations of motion of an underactuated mechanical system can be written in Port-Controlled Hamiltonian form (PCH) as q p = 0 n×n I n I n 0 n×n ∇H(q, p) + 0 n×m G(q) u(1  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/ssd49366.2020.9364159">doi:10.1109/ssd49366.2020.9364159</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/jpqumww3gbealp4qhjskim32ta">fatcat:jpqumww3gbealp4qhjskim32ta</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20210716084235/https://hal-lirmm.ccsd.cnrs.fr/lirmm-03131493/file/SSD2%20VF.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/03/e8/03e858353cf275297bbf250b46375657d676c7c9.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/ssd49366.2020.9364159"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Robustness enhancement of IDA-PBC controller in stabilising the inertia wheel inverted pendulum: theory and real-time experiments

Nahla Khraief Haddad, Ahmed Chemori, Safya Belghith
<span title="2017-06-08">2017</span> <i title="Informa UK Limited"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/r467vnh32bfzre7lj4uj5cyv4a" style="color: black;">International Journal of Control</a> </i> &nbsp;
Improving the robustness, vis-à-vis matched input disturbances of IDA-PBC (Interconnection Damping Assignment, Passivity Based Control) for a class of underactuated mechanical systems is addressed in this  ...  The characterized class of systems is the one for which IDA-PBC yields a smooth stabilizing controller.  ...  Romero (2013) ) improved the robustness vis-à-vis external disturbances, of energy shaping controllers for fully actuated mechanical systems.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1080/00207179.2017.1331378">doi:10.1080/00207179.2017.1331378</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/q6w4rtizmvhzfis7ufjzrdu6xu">fatcat:q6w4rtizmvhzfis7ufjzrdu6xu</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200307091538/https://hal-lirmm.ccsd.cnrs.fr/lirmm-01719182/document" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/fe/ba/feba1c56f1118914459d0d6dafdc1950755ad4bc.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1080/00207179.2017.1331378"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> tandfonline.com </button> </a>

Energy-balancing-based control design for power systems

Yajie Sun, Zhengtao Ding, Hong Wang
<span title="">2012</span> <i title="IEEE"> Proceedings of the 10th World Congress on Intelligent Control and Automation </i> &nbsp;
port controlled Hamiltonian systems, and the designed controller is based on only the storage equation which is a function of the tracking error  ...  For sequent chapters, the properties of Hamiltonian systems, port-controlled Hamiltonian systems and port-controlled Hamiltonian systems with dissipation, as well as both adaptive control and EB-based  ...  Appendix A Variables w 1 , w 2 --are disturbances of the system. δ--is the power angle of the generator, in radian. ω--is the relative speed of the generator, in rad/s.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/wcica.2012.6358269">doi:10.1109/wcica.2012.6358269</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/assza62jwnf2rpotey2no2jcyq">fatcat:assza62jwnf2rpotey2no2jcyq</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170921203147/https://www.escholar.manchester.ac.uk/api/datastream?publicationPid=uk-ac-man-scw:156145&amp;datastreamId=FULL-TEXT.PDF" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/6c/08/6c08dc5e198155750bac2721943cf4d3ac1e8099.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/wcica.2012.6358269"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>
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