Publication

Adaptive tracking control of fully actuated port-Hamiltonian mechanical systems

Dirksz, D. A. & Scherpen, J. M. A., 2010, 2010 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS. Japan: University of Groningen, Research Institute of Technology and Management, p. 1678-1683 6 p. (IEEE International Conference on Control Applications).

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In the presence of parameter uncertainty tracking control can result in significant tracking errors. To overcome this problem adaptive control is applied, which estimates and compensates for the errors of the uncertain parameters. A new adaptive tracking control scheme is presented for standard fully actuated port-Hamiltonian mechanical systems. The adaptive control is such that the closed loop error system is still port-Hamiltonian and asymptotically stable.
Original languageEnglish
Title of host publication2010 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS
Place of PublicationJapan
PublisherUniversity of Groningen, Research Institute of Technology and Management
Pages1678-1683
Number of pages6
ISBN (Print)978-1-4244-5363-4
Publication statusPublished - 2010
EventIEEE International Conference on Control Applications Part of 2010 IEEE Multi-Conference on Systems and Control - , Japan
Duration: 8-Sep-201010-Sep-2010

Publication series

NameIEEE International Conference on Control Applications
PublisherIEEE
ISSN (Print)1085-1992

Other

OtherIEEE International Conference on Control Applications Part of 2010 IEEE Multi-Conference on Systems and Control
CountryJapan
Period08/09/201010/09/2010

Event

IEEE International Conference on Control Applications Part of 2010 IEEE Multi-Conference on Systems and Control

08/09/201010/09/2010

Japan

Event: Other

    Keywords

  • STABILIZATION

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