Passivity-Based Control of port-Hamiltonian mechanical systems
The doctoral thesis defence took place on the 11th of Februari 2011.
Description
In this project control strategies are determined based on energy shaping to realize stabilization and tracking control of mechanical systems. The control strategies and the system descriptions are done in the port-Hamiltonian framework. Important problems that will be investigated are the control of systems without velocity measurements, systems which have parameter uncertainty and systems that are underactuated. Canonical transformation theory (for port-Hamiltonian systems), dynamic extension and adaptive control are applied to deal with these problems. Experiments will show how the control strategies perform in a practical setup.
Projectleader
Researcher/PhD student
D.A. Dirksz
Contact information
| Telephone | +31 50 363 8493 |
| FAX | +31 50 363 8498 |
| Secretariat | Frederika Fokkens |
| Postal address | University of Groningen Nijenborgh 4 NL-9747 AG Groningen The Netherlands |
|
secdtpa@rug.nl |
| Last modified: | 10 September 2018 09.18 a.m. |