Power-based adaptive and integral control of standard mechanical systemsDirksz, 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.
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review
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.
|Title of host publication||49TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC)|
|Place of Publication||Altanta, Georgia, USA|
|Publisher||University of Groningen, Research Institute of Technology and Management|
|Number of pages||6|
|Publication status||Published - 2010|
|Event||49th IEEE Conference on Decision and Control (CDC) - , United States|
Duration: 15-Dec-2010 → 17-Dec-2010
|Other||49th IEEE Conference on Decision and Control (CDC)|
|Period||15/12/2010 → 17/12/2010|
49th IEEE Conference on Decision and Control (CDC)
15/12/2010 → 17/12/2010United States
- CONTROLLED HAMILTONIAN-SYSTEMS, DAMPING ASSIGNMENT, STABILIZATION, INTERCONNECTION