Analysis of Modified Repetitive Control Schemes: the Port-Hamiltonian Approach

نویسندگان
چکیده

برای دانلود رایگان متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

A port-Hamiltonian approach to the control of nonholonomic systems

In this paper a method of controlling nonholonomic systems within the port-Hamiltonian (pH) framework is presented. It is well known that nonholonomic systems can be represented as pH systems without Lagrange multipliers by considering a reduced momentum space. Here, we revisit the modelling of these systems for the purpose of identifying the role that physical damping plays. Using this represe...

متن کامل

Comparison of Repetitive Control Schemes

X nx1 system state matrix A nxn state transition matrix (possible time varying) Bnxm input matrix (possibly time varying) U mx1 input of system inputs Uideal mx1 matrix defining the input required to force perfect tracking. Xref nx1 matrix defining the path the states are to follow, periodic in time T. T The period of the repetitive motion: Xref(t)=Xref(t+T) W(t) Basis function for determining ...

متن کامل

Adaptive control of port-Hamiltonian systems

In this paper an adaptive control scheme is presented for general port-Hamiltonian systems. Adaptive control is used to compensate for control errors that are caused by unknown or uncertain parameter values of a system. The adaptive control is also combined with canonical transformation theory for port-Hamiltonian systems. This allows for the adaptive control to be applied on a large class of s...

متن کامل

Delayed virtual environments: a port-Hamiltonian approach

In this paper the problem of delayed virtual environments in haptics is addressed. We show that the approach outlined in [7] is no longer passive in case of (computational) delay on the output of the virtual environment. Passivity can be recovered using scattering theory; a discretization algorithm which leads to a discrete passive port-Hamiltonian systems with respect to any delay on the outpu...

متن کامل

Passive trajectory control for port-Hamiltonian systems

This paper is devoted to trajectory tracking control for port-Hamiltonian systems. The control law presented here is extension of an existing passive velocity field controller for fully actuated mechanical systems. The proposed method employs vector fields on the phase (co-tangent) spaces instead of those on the velocity (tangent) spaces. Since port-Hamiltonian systems can describe a wider clas...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: IFAC-PapersOnLine

سال: 2018

ISSN: 2405-8963

DOI: 10.1016/j.ifacol.2018.06.030