The port-Hamiltonian formalism is a very powerful tool for describingdynamical systems and their interconnections and fordesigning control laws with specified energetic properties. Inthis paper, in particular, it is shown how a variable structurecontrol can be designed in this general framework in order toachieve a passive systems with, additionally, the robust propertiesobtainable with variable structure systems. Simulationresults obtained with a 2-dof manipulator are reported and discussedin order to validate the proposed approach.
A Variable Structure Approach to Energy Shaping / Macchelli, A., Melchiorri, C., Secchi, C., Fantuzzi, C.. - ELETTRONICO. - (2003), pp. 1309-1314. (2003 European Control Conference, ECC 2003 University of Cambridge, gbr 1-4 Settembre 2004) [10.23919/ecc.2003.7085142].
A Variable Structure Approach to Energy Shaping
SECCHI, Cristian;FANTUZZI, Cesare
2003
Abstract
The port-Hamiltonian formalism is a very powerful tool for describingdynamical systems and their interconnections and fordesigning control laws with specified energetic properties. Inthis paper, in particular, it is shown how a variable structurecontrol can be designed in this general framework in order toachieve a passive systems with, additionally, the robust propertiesobtainable with variable structure systems. Simulationresults obtained with a 2-dof manipulator are reported and discussedin order to validate the proposed approach.
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