An energy based approach for the control of a micro-robotic contact scenario

Authors

Hector Ramirez, Bilal Komati, Yann Le Gorrec, Cédric Clévy

Abstract

Energy based approaches have proven to be specially well suited for the modeling and control of mechanical systems. Among these approaches the port-Hamiltonian framework presents interesting properties for the structural modeling of complex systems and for the design of non-linear controllers using passivity In this paper we use this framework to model a typical micro-robotic contact scenario and to propose a simple but effective globally stabilizing controller. The model and the controller take into account the transitions from a non-contact to a contact state (and the inverse) by the introduction of a non-linear (switching) contact element. A one degree of freedom experimental micro-robotic setup is used to test and illustrate the results.

Keywords

Passivity based control; port-Hamiltonian systems; non-linear control; micro-mechatronics

Citation

• Journal: IFAC-PapersOnLine
• Year: 2016
• Volume: 49
• Issue: 18
• Pages: 945–950
• Publisher: Elsevier BV
• DOI: 10.1016/j.ifacol.2016.10.289
• Note: 10th IFAC Symposium on Nonlinear Control Systems NOLCOS 2016- Monterey, California, USA, 23—25 August 2016

BibTeX

@article{Ramirez_2016,
  title={{An energy based approach for the control of a micro-robotic contact scenario}},
  volume={49},
  ISSN={2405-8963},
  DOI={10.1016/j.ifacol.2016.10.289},
  number={18},
  journal={IFAC-PapersOnLine},
  publisher={Elsevier BV},
  author={Ramirez, Hector and Komati, Bilal and Le Gorrec, Yann and Clévy, Cédric},
  year={2016},
  pages={945--950}
}

Download the bib file

References

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