Input Disturbance Suppression for Port-Hamiltonian Systems: An Internal Model Approach

Authors

Luca Gentili, Andrea Paoli, Claudio Bonivento

Abstract

In this paper an internal model based approach to periodic input disturbance suppression for port-Hamiltonian systems is presented; more specifically, an adaptive solution able to deal with unknown periodic signal belonging to a given class is introduced. After an introductive section, the adaptive internal model design procedure is presented in order to solve the input disturbance problem. This theoretical machinery is specialized for the energy-based port-Hamiltonian framework in order to prove the global asymptotical stability of the solution. Finally, in order to clearly point out the effectiveness of the presented design procedure a tracking problem is solved for a robotic manipulator affected by torque ripples.

Keywords

Port-Hamiltonian systems; Internal Model Control; Adaptive Control; Input Disturbance Suppression; Robot Manipulator

Citation

• ISBN: 9783540707004
• Publisher: Springer Berlin Heidelberg
• DOI: 10.1007/978-3-540-70701-1_5

BibTeX

@inbook{Gentili,
  title={{Input Disturbance Suppression for Port-Hamiltonian Systems: An Internal Model Approach}},
  ISBN={9783540707004},
  DOI={10.1007/978-3-540-70701-1_5},
  booktitle={{Advances in Control Theory and Applications}},
  publisher={Springer Berlin Heidelberg},
  author={Gentili, Luca and Paoli, Andrea and Bonivento, Claudio},
  pages={85--98}
}

Download the bib file

References

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