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Force control of a class of standard mechanical systems in the port-Hamiltonian framework

Mauricio Muñoz-Arias, Jacquelien M.A. Scherpen, Daniel A. Dirksz
2013 IFAC Proceedings Volumes  
This work is devoted to a force control strategy of a class of standard mechanical systems in the port-Hamiltonian framework.  ...  First, a coordinate transformation is applied to equivalently describe the original port-Hamiltonian system in a port-Hamiltonian form which has a constant mass-inertia matrix in the Hamiltonian.  ...  The main result of this paper relies on a new strategy for force control for a class of standard mechanical systems in the port-Hamiltonian framework, thus exploiting the fact that many new systems are  ... 
doi:10.3182/20130904-3-fr-2041.00127 fatcat:lp3xpm24oraelfpqlvherjq6u4

A variable rest length impedance grasping strategy in the port-Hamiltonian framework [article]

Mauricio Munoz-Arias, Jacquelien Scherpen, Alessandro Macchelli
2020 arXiv   pre-print
This work is devoted to an impedance grasping strategy for a class of standard mechanical systems in the port-Hamiltonian framework.  ...  We utilize the port-Hamiltonian structure of standard mechanical systems.  ...  We consider the PH system (2) as a class of standard mechanical systems with external forces. B.  ... 
arXiv:2008.02020v1 fatcat:cxudq47lnnastnrrhtdeclzp2q

Robust Nonlinear Control. Port-controlled Hamiltonian Systems: Towards a Theory for Control and Design of Nonlinear Physical Systems

A. J. van der SCHAFT
2000 Journal of The Society of Instrument and Control Engineers  
Recall the well-known result that the standard feedback interconnection of two passive systems again is a passive system; a basic fact which can be used for various stability and control purposes6),18)  ...  In the application as a microphone the voltage over the resistor will be used (after amplification) as a measure for the mechanical force F.  ...  The closed-loop system takes the form (29) which again is a port- (30) with q the position and p being the momentum of the mass m, in feedback interconnection (u=-yc+e, uc= y) with the controller  ... 
doi:10.11499/sicejl1962.39.91 fatcat:eesuzb6e75bgfgav5amsoy2hgi

Port-Hamiltonian Systems: Network Modeling and Control of Nonlinear Physical Systems [chapter]

A. J. Schaft
2004 Advanced Dynamics and Control of Structures and Machines  
In particular, we investigate the existence of Casimir functions for the feedback interconnection of a plant port-Hamiltonian system and a controller port-Hamiltonian system, leading to a reduced port-Hamiltonian  ...  It is indicated how the interconnection of port-Hamiltonian systems again leads to a port-Hamiltonian system, and how this may be exploited for control and design.  ...  In particular we thank Bernhard Maschke and Romeo Ortega for fruitful collaborations. Some of the material covered in this paper has appeared in [47] .  ... 
doi:10.1007/978-3-7091-2774-2_9 fatcat:irvsdokxojaqhm3akmz2nfowg4

Port-Hamiltonian and power-based integral type control of a manipulator system

D.A. Dirksz, J.M.A. Scherpen
2011 IFAC Proceedings Volumes  
Here, integral type controllers are presented for standard nonlinear mechanical systems, based on the port-Hamiltonian and power-based modeling frameworks.  ...  Steady-state errors usually occur in the implementation of control algorithms on a system, caused by uncertainties and/or modeling errors.  ...  The first main contribution of this paper is to present integral control for standard mechanical systems in the PH framework.  ... 
doi:10.3182/20110828-6-it-1002.01030 fatcat:txvpq376zfgh7mkusbkv7zqwxe

Putting energy back in control

2001 IEEE Control Systems  
This "energy-shaping" approach is the essence of passivity-based control (PBC), a controller design technique that is very well known in mechanical systems.  ...  These two important features allow us to design energy-based controllers for a wide range of physical systems.  ...  The authors would also like to thank Tariq Samad for many helpful remarks.  ... 
doi:10.1109/37.915398 fatcat:dj57qayzuzdspkaclni3uaeeyi

Port-Hamiltonian Formulation of Systems With Memory

Dimitri Jeltsema, Arnau Doria-Cerezo
2012 Proceedings of the IEEE  
The port-Hamiltonian formalism naturally arises from network modeling of physical systems in a variety of domains.  ...  One of the strong aspects of the port-Hamiltonian formalism is that a power-preserving interconnection between port-Hamiltonian systems results in another port-Hamiltonian system with composite energy,  ...  For example, the interconnection of the two port-Hamiltonian systems _ x i ¼ ðJ i À D i Þ @H i @x i ðx i Þ þ B i u i y i ¼ B T i @H i @x i ðx i Þ; i ¼ 1; 2 via the feedback interconnection u 1 ¼ Ày 2 ,  ... 
doi:10.1109/jproc.2011.2164169 fatcat:n6uqkxcwizdi5ov7x5yx2325ry

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.  ...  A class of virtual control systems for mechanical systems in the port-Hamiltonian framework In this subsection, the previous notions on contraction and differential passivity are applied to mechanical  ... 
arXiv:2002.01542v1 fatcat:brejmofkk5fdzafuooga2bjrle

The matching conditions of controlled Lagrangians and IDA-passivity based control

Guido Blankenstein, Romeo Ortega, Arjan J. Van Der Schaft
2002 International Journal of Control  
Secondly, both methods are applied to the general class of underactuated mechanical systems and it is shown that the controlled Lagrangians method is contained in the IDA-PBC method.  ...  The ¶-method as described in recent papers for the controlled Lagrangians method, transforming the matching conditions (a set of non-linear PDEs) into a set of linear PDEs, is discussed.  ...  The work of the ®rst author was carried out during a post-doctora l position at SUPELEC, France, and was partly funded by the Research Network NACO-2 of the European Union.  ... 
doi:10.1080/00207170210135939 fatcat:4ebkwt43ifaujon7rvoevjjsdy

Energy Shaping and Partial Feedback Linearization of Mechanical Systems with Kinematic Constraints

Oscar Cieza A., Johann Reger
2021 IFAC-PapersOnLine  
Traditionally, the energy shaping for mechanical systems requires the elimination of holonomic and nonholonomic constraints.  ...  In this regard, this paper formalizes the PFL for mechanical systems with kinematic constraints and extends the energy shaping of such systems by including systems with singular inertia matrix and non-workless  ...  Finally, we test our results on the portal crane with 5-DoF via simulation. The paper is organized as follows. In Section 2 we identify the class of mechanical systems.  ... 
doi:10.1016/j.ifacol.2021.11.085 fatcat:bipgaszlpnan3f6gxcjrl7thge

Position Drift Compensation in Port-Hamiltonian Based Telemanipulation

Cristian Secchi, Stefano Stramigioli, Cesare Fantuzzi
2006 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems  
In [1], a generic framework for geometric telemanipulation of port-Hamiltonian systems ([2]) has been proposed; master and slave are controlled through intrinsically passive port-Hamiltonian regulators  ...  In [3] discrete scattering is used to build a control scheme for telemanipulation of port-Hamiltonian systems over a packet switched communication network (e.g. Internet).  ...  A very broad class of physical systems, both linear and non linear, can be modeled within the port-Hamiltonian framework which can therefore be used to model telemanipulation systems endowed with nonlinear  ... 
doi:10.1109/iros.2006.281915 dblp:conf/iros/SecchiSF06a fatcat:jpsxnxmhvvg3te54yu2pom3zwm

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).  ...  The structure and workless forces of pH models are exploited to design two virtual control systems which are related to the original marine craft's pH models.  ...  Mechanical port-Hamiltonian and virtual systems Previous ideas will be applied to mechanical pH systems.  ... 
arXiv:1803.07938v1 fatcat:ws22srvrz5gqzlto7ftdxrp6ey

Modular Design of Image Based Visual Servo Control for Dynamic Mechanical Systems [chapter]

Robert Mahony
2016 Springer Tracts in Advanced Robotics  
This paper presents a modular framework for design of image based visual servo control for fully actuated dynamic mechanical systems.  ...  The approach taken uses the formalism of port Hamiltonian systems to track energy exchanged between the mechanical system and virtual potentials or Hamiltonians associated with each image feature.  ...  Acknowledgements This research was supported by the Australian Research Council through Future Fellowship FT0991771 "Foundations of Vision Based Control of Robotic Vehicles"  ... 
doi:10.1007/978-3-319-29363-9_8 fatcat:p5xrkpclx5e67b7q6lrj2uwbre

Port-Hamiltonian Modeling for Control

Arjan van der Schaft
2019 Annual Review of Control Robotics and Autonomous Systems  
This article provides a concise summary of the basic ideas and concepts in port-Hamiltonian systems theory and its use in analysis and control of complex multiphysics systems.  ...  Emergent control paradigms and open problems are indicated, including the relation with thermodynamics and the question of uniting the energy-processing view of control, as emphasized by port-Hamiltonian  ...  In particular, I would like to thank Bernhard Maschke (Université de Lyon 1) for a long-lasting and inspiring collaboration on many of the topics discussed in this article.  ... 
doi:10.1146/annurev-control-081219-092250 fatcat:wb6e6dtb2be3dfri2qolpxf5j4

Port-Hamiltonian formulation and analysis of the LuGre friction model

Johan Koopman, Dimitri Jeltsema, Michel Verhaegen
2008 2008 47th IEEE Conference on Decision and Control  
Port-Hamiltonian systems are a class of system descriptions (linear or nonlinear) that arise naturally from network modeling of physical systems in a variety of J. J. Koopman and M.  ...  A port-Hamiltonian formulation of the LuGre friction model is presented that can be used as a building block in the physical modeling of systems with friction.  ...  Although it might be argued that from a thermodynamical perspective the inclusion of irreversible processes in a Hamiltonian framework should be done via the use of port-contact structures (see [7] ),  ... 
doi:10.1109/cdc.2008.4739351 dblp:conf/cdc/KoopmanJV08 fatcat:75vqoumpbfhsreh2oqpvdatdoa
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