A variable structure approach to energy shaping
Authors
A. Macchelli, C. Melchiorri, C. Secchi, C. Fantuzzi
Abstract
The port-Hamiltonian formalism is a very powerful tool for describing dynamical systems and their interconnections and for designing control laws with specified energetic properties. In this paper, in particular, it is shown how a variable structure control can be designed in this general framework in order to achieve a passive systems with, additionally, the robust properties obtainable with variable structure systems. Simulation results obtained with a 2-dof manipulator are reported and discussed in order to validate the proposed approach.
Citation
- Journal: 2003 European Control Conference (ECC)
- Year: 2003
- Volume:
- Issue:
- Pages: 1309–1314
- Publisher: IEEE
- DOI: 10.23919/ecc.2003.7085142
BibTeX
@inproceedings{Macchelli_2003,
title={{A variable structure approach to energy shaping}},
DOI={10.23919/ecc.2003.7085142},
booktitle={{2003 European Control Conference (ECC)}},
publisher={IEEE},
author={Macchelli, A. and Melchiorri, C. and Secchi, C. and Fantuzzi, C.},
year={2003},
pages={1309--1314}
}