Publication

Power-based adaptive and integral control of standard mechanical systems

Dirksz, D. A. & Scherpen, J. M. A., 2010, 49TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC). Altanta, Georgia, USA: University of Groningen, Research Institute of Technology and Management, p. 4612-4617 6 p.

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Recently a power-based modeling framework was introduced for mechanical systems, based on the Brayton-Moser framework. In this paper it is shown how this power-based framework is used for control of standard mechanical systems. For systems which are affected by parameter uncertainty or other unknown disturbances adaptive control and integral control are also described in this framework. The power-based control approach is also compared with the energy-shaping control of port-Hamiltonian systems. The most interesting difference is the possibility of having adaptive and integrator dynamics depending on position errors, while preserving the physical structure.

Original languageEnglish
Title of host publication49TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC)
Place of PublicationAltanta, Georgia, USA
PublisherUniversity of Groningen, Research Institute of Technology and Management
Pages4612-4617
Number of pages6
ISBN (Electronic)9781424477463
ISBN (Print)9781424477456
Publication statusPublished - 2010
Event49th IEEE Conference on Decision and Control (CDC) - , United States
Duration: 15-Dec-201017-Dec-2010

Other

Other49th IEEE Conference on Decision and Control (CDC)
CountryUnited States
Period15/12/201017/12/2010

Event

49th IEEE Conference on Decision and Control (CDC)

15/12/201017/12/2010

United States

Event: Other

    Keywords

  • CONTROLLED HAMILTONIAN-SYSTEMS, DAMPING ASSIGNMENT, STABILIZATION, INTERCONNECTION

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