Passivity-Based Control of port-Hamiltonian mechanical systems
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.
|Telephone||+31 50 363 8493|
|FAX||+31 50 363 8498|
|Postal address||University of Groningen
NL-9747 AG Groningen
|Last modified:||10 September 2018 09.18 a.m.|