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Passivity-based tracking control of port-Hamiltonian mechanical systems with only position measurements

D.A. Dirksz, J.M.A. Scherpen
2009 2009 European Control Conference (ECC)   unpublished
This is done for fully-actuated port-Hamiltonian mechanical systems.  ...  By interconnecting the system with a (virtual) controller damping is indirectly injected into the system making velocity measurements unnecessary, provided that this damping propagates to the mechanical  ...  Scherpen: Passivity-based Tracking Control of Port-Hamiltonian Mechanical Systems… WeC2.1 section we have shown that this problem can be solved if the mass matrix of the system is constant.  ... 
doi:10.23919/ecc.2009.7075141 fatcat:om3ackulivdhznw2dbvcchjuni

Trajectory Tracking Control of Port-Controlled Hamiltonian Systems via Generalized Canonical Transformations
一般化正準変換を用いたハミルトニアンシステムの軌道追従制御

Kenji FUJIMOTO, Kazunori SAKURAMA, Toshiharu SUGIE
2001 Transactions of the Society of Instrument and Control Engineers  
This paper addresses trajectory tracking control of port-controlled Hamiltonian systems via generalized canonical transformations and passivity based control.  ...  The main strategy adopted in this paper is to construct an error system, which describes the dynamics of the tracking error, by a passive port-controlled Hamiltonian system.  ...  They can describe not only mechanical systems but also a broad class of physical systems including passive electro-mechanical systems, mechanical systems with nonholonomic constraints and their combinations  ... 
doi:10.9746/sicetr1965.37.741 fatcat:jauju76gnrgghdsqkqizr2hk2a

Trajectory tracking control of port-controlled Hamiltonian systems via generalized canonical transformations

Kenji Fujimoto, Kazunori Sakurama, Toshiharu Sugie
2003 Automatica  
This paper addresses trajectory tracking control of port-controlled Hamiltonian systems via generalized canonical transformations and passivity based control.  ...  The main strategy adopted in this paper is to construct an error system, which describes the dynamics of the tracking error, by a passive port-controlled Hamiltonian system.  ...  They can describe not only mechanical systems but also a broad class of physical systems including passive electro-mechanical systems, mechanical systems with nonholonomic constraints and their combinations  ... 
doi:10.1016/j.automatica.2003.07.005 fatcat:6qi4lmt5ona3bp3prcxt5cd7ai

Trajectory Tracking Control of Nonholonomic Hamiltonian Systems via Generalized Canonical Transformations

Kenji Fujimoto, Kazunori Sakurama, Toshiharu Sugie
2004 European Journal of Control  
The basic strategy of this approach is to construct an error system, which describes the dynamics of the tracking error, by a passive port-controlled Hamiltonian system.  ...  This method is a natural extension of the conventional passivity based control.  ...  After obtaining an error system in a port-controlled Hamiltonian form, we can stabilize it asymptotically based on the passivity based approach relatively easily compared with trajectory tracking control  ... 
doi:10.3166/ejc.10.421-431 fatcat:juho3sylbnee3b3k4dsckfgvrq

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
2020 arXiv   pre-print
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.  ... 
arXiv:2002.01542v1 fatcat:brejmofkk5fdzafuooga2bjrle

Energy-Based Modeling and Hamiltonian LQG Control of a Flexible Beam Actuated by IPMC Actuators

Weijun Zhou, Ning Liu, Yongxin Wu, Hector Ramirez, Yann Le Gorrec
2022 IEEE Access  
The electric dynamics of the IPMCs are considered in the model. The port-Hamiltonian framework is used to propose an interconnected control model of the mechanical flexible beam and IPMC actuator.  ...  Furthermore, a passive and Hamiltonian structure-preserving linear quadratic Gaussian (LQG) controller is used to achieve the desired configuration of the system, and the asymptotic stability of the closed-loop  ...  INTRODUCTION The port-Hamiltonian system (PHS) formulation and passivity-based control have been widely used and demonstrated to be effective for the modeling, analysis and control of nonlinear systems  ... 
doi:10.1109/access.2022.3146367 fatcat:svkxcfhf7zbxbdc4uazoue2btu

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

Alejandro Donaire, Jose Guadalupe Romero, Tristan Perez
2017 Journal of the Franklin Institute  
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  ...  The model in inertial coordinates resembles general port-Hamiltonian model of mechanical systems with a coordinate dependent mass matrix.  ... 
doi:10.1016/j.jfranklin.2017.01.012 fatcat:ftvfhvz2hzhtvdexgmkpj42xte

Virtual Differential Passivity based Control for Tracking of Flexible-joints Robots

Rodolfo Reyes-Báez, Arjan van der Schaft, Bayu Jayawardhana
2018 IFAC-PapersOnLine  
We apply the method to the tracking control problem of flexible joints robots (FJRs) which are formulated in the port-Hamiltonian (pH) framework.  ...  Based on recent advances in contraction methods in systems and control, in this paper we present the virtual differential passivity based control (v-dPBC) technique.  ...  In a recent work of Avila-Becerril et al. (2016) , they design a dynamic controller which solves the global position tracking problem of FJRs based only on measurements of link and joint positions.  ... 
doi:10.1016/j.ifacol.2018.06.048 fatcat:m35ytxpamzevfaeimggjctwsce

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

Rodolfo Reyes-Báez, Arjan van der Schaft, Bayu Jayawardhana
2017 arXiv   pre-print
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  ... 
arXiv:1611.07302v4 fatcat:6za4zxay2jdexa3dazrz2exicu

Memory-related cognitive load effects in an interrupted learning task: A model-based explanation

Maria Wirzberger, Jelmer P. Borst, Josef F. Krems, Günter Daniel Rey
2020 Trends in Neuroscience and Education  
It further contributes to the discussion of underlying mechanisms at a neural level.  ...  Our models account for human data of an experiment that required participants to perform a symbol sequence learning task with embedded interruptions.  ...  In a recent work of Avila-Becerril et al. (2016) , they design a dynamic controller which solves the global position tracking problem of FJRs based only on measurements of link and joint positions.  ... 
doi:10.1016/j.tine.2020.100139 pmid:32917302 fatcat:jojc45wv7ngj7p3rpeltginzma

Virtual Differential Passivity based Control for Tracking of Flexible-joints Robots [article]

Rodlfo Reyes-Báez, Arjan van der Schaft, Bayu Jayawardhana
2017 arXiv   pre-print
We apply the method to the tracking control problem of flexible joints robots (FJRs) which are formulated in the port-Hamiltonian (pH) framework.  ...  Based on recent advances in contraction methods in systems and control, in this paper we present the virtual differential passivity based control (v-dPBC) technique.  ...  The first author is also grateful with CONACyT-Government of the State of Puebla for the scholarship assigned to CVU 386575.  ... 
arXiv:1710.11078v3 fatcat:iah6jchn3rd53ob6f2cv6qkmei

Torque Ripple Minimization In Switched Reluctance Motor Using Passivity-Based Robust Adaptive Control

M.M. Namazi, S.M. Saghaiannejad, A. Rashidi
2011 Zenodo  
In this paper by using the port-controlled Hamiltonian (PCH) systems theory, a full-order nonlinear controlled model is first developed.  ...  Then a nonlinear passivity-based robust adaptive control (PBRAC) of switched reluctance motor in the presence of external disturbances for the purpose of torque ripple reduction and characteristic improvement  ...  The port controlled Hamiltonian systems with dissipation (6) satisfy the following power-balance equation: X X H X R X X H y u dt X dH T T ∂ ∂ ∂ ∂ − = ) ( ) ( ) ( ) ( (7) The port-controlled Hamiltonian  ... 
doi:10.5281/zenodo.1072107 fatcat:k72b74y4lnbjvjfqnci7fqzdru

Tracking Control of Marine Craft in the port-Hamiltonian Framework: A Virtual Differential Passivity Approach [article]

Rodolfo Reyes-Báez, Alejandro Donaire, Arjan van der Schaft, Bayu Jayawardhana, Tristan Perez
2018 arXiv   pre-print
In this work we propose a family of trajectory tracking controllers for marine craft in the port-Hamiltonian (pH) framework using virtual differential passivity based control (v-dPBC).  ...  These virtual systems are rendered differentially passive with an imposed steady-state trajectory, both by means of a control scheme.  ...  Mechanical port-Hamiltonian and virtual systems Previous ideas will be applied to mechanical pH systems.  ... 
arXiv:1803.07938v1 fatcat:ws22srvrz5gqzlto7ftdxrp6ey

Torque Ripple Minimization In Switched Reluctance Motor Using Passivity-Based Robust Adaptive Control

M.M. Namazi, S.M. Saghaiannejad, A. Rashidi
2011 Zenodo  
In this paper by using the port-controlled Hamiltonian (PCH) systems theory, a full-order nonlinear controlled model is first developed.  ...  Then a nonlinear passivity-based robust adaptive control (PBRAC) of switched reluctance motor in the presence of external disturbances for the purpose of torque ripple reduction and characteristic improvement  ...  The port controlled Hamiltonian systems with dissipation (6) satisfy the following power-balance equation: X X H X R X X H y u dt X dH T T ∂ ∂ ∂ ∂ − = ) ( ) ( ) ( ) ( (7) The port-controlled Hamiltonian  ... 
doi:10.5281/zenodo.1072108 fatcat:gnucfzekmndzdhp7cdnp3ddmeq

A Dual-User Teleoperation System with Adaptive Authority Adjustment for Haptic Training [chapter]

Fei Liu, Arnaud Lelevé, Damien Eberard, Tanneguy Redarce
2016 Mechanisms and Machine Science  
The system is modeled and controled in port-Hamiltonian form for passivity preserving. Experiments are conducted for validation.  ...  This paper presents a shared control based dual-user teleoperation haptic training system. The main contribution is an Adaptive Authority Adjustment (AAA).  ...  Acknowledgements The authors acknowledge the financial support of the China Scholarship Council (CSC) Scholarship.  ... 
doi:10.1007/978-3-319-30674-2_13 fatcat:oabispay7ngbva7tb54w3rucdy
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