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Research ENTEG Discrete Technology & Production Automation Research Projects

Passivity-Based Control of port-Hamiltonian mechanical systems

Thesis Danny Dirksz
Thesis cover Danny Dirksz
The doctoral thesis defence took place on the 11th of Februari 2011.


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 J.M.A. Scherpen

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

Last modified:10 September 2018 09.18 a.m.