Authors

Mauricio Muñoz-Arias, Jacquelien M.A. Scherpen, Daniel A. Dirksz

Abstract

This work is devoted to a force control strategy of a class of standard mechanical systems in the port-Hamiltonian framework. First, a coordinate transformation is applied to equivalently describe the original port-Hamiltonian system in a port-Hamiltonian form which has a constant mass-inertia matrix in the Hamiltonian. Then, we show how to derive an extended port-Hamiltonian system with structure preservation which can be used for force control purposes. Furthermore, we prove that the closed-loop system is asymptotically stable via a Lyapunov candidate function. Finally, experiments results are provided to show the advantages of the force control strategy in presence of external forces.

Keywords

port-Hamiltonian systems; force feedback; stability analysis; force control; mechanical systems

Citation

  • Journal: IFAC Proceedings Volumes
  • Year: 2013
  • Volume: 46
  • Issue: 23
  • Pages: 377–382
  • Publisher: Elsevier BV
  • DOI: 10.3182/20130904-3-fr-2041.00127
  • Note: 9th IFAC Symposium on Nonlinear Control Systems

BibTeX

@article{Mu_oz_Arias_2013,
  title={{Force control of a class of standard mechanical systems in the port-Hamiltonian framework}},
  volume={46},
  ISSN={1474-6670},
  DOI={10.3182/20130904-3-fr-2041.00127},
  number={23},
  journal={IFAC Proceedings Volumes},
  publisher={Elsevier BV},
  author={Muñoz-Arias, Mauricio and Scherpen, Jacquelien M.A. and Dirksz, Daniel A.},
  year={2013},
  pages={377--382}
}

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References