Modeling of inertial and compliance parametric uncertainties in Port-Hamiltonian Systems using LFR

Authors

Matthieu Touron, Julien Gomand, Pierre-Jean Barre, Jean-Yves Dieulot

Abstract

This paper presents a Linear Fractional Representation of a Port Hamiltonian System for which uncertainties are concentrated on the Hamiltonian parameters. A basic block-diagram is provided and an illustration is shown on a hand-held cutting tool viewed as an effort multiplier.

Citation

• Journal: 2013 International Conference on Control, Decision and Information Technologies (CoDIT)
• Year: 2013
• Volume:
• Issue:
• Pages: 703–707
• Publisher: IEEE
• DOI: 10.1109/codit.2013.6689628

BibTeX

@inproceedings{Touron_2013,
  title={{Modeling of inertial and compliance parametric uncertainties in Port-Hamiltonian Systems using LFR}},
  DOI={10.1109/codit.2013.6689628},
  booktitle={{2013 International Conference on Control, Decision and Information Technologies (CoDIT)}},
  publisher={IEEE},
  author={Touron, Matthieu and Gomand, Julien and Barre, Pierre-Jean and Dieulot, Jean-Yves},
  year={2013},
  pages={703--707}
}

Download the bib file

References

• Sié Kam, C. & Dauphin-Tanguy, G. Bond graph models of structured parameter uncertainties. Journal of the Franklin Institute 342, 379–399 (2005) – 10.1016/j.jfranklin.2005.01.005
• Donaire, A. & Junco, S. Derivation of Input-State-Output Port-Hamiltonian Systems from bond graphs. Simulation Modelling Practice and Theory 17, 137–151 (2009) – 10.1016/j.simpat.2008.02.007
• Donaire, A. & Junco, S. Energy shaping, interconnection and damping assignment, and integral control in the bond graph domain. Simulation Modelling Practice and Theory 17, 152–174 (2009) – 10.1016/j.simpat.2008.02.012
• doyle, Review of LFTs LMIs and Mu Proceedings of the 30th Conference on Decision and Control (1991)
• Navarro-Alarcon, D., Li, P. & Yip, H. M. Energy shaping control for robot manipulators in explicit force regulation tasks with elastic environments. 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems 4222–4228 (2011) doi:10.1109/iros.2011.6094641 – 10.1109/iros.2011.6094641
• Dirksz, D. A. & Scherp, J. M. A. Adaptive tracking control of fully actuated port-Hamiltonian mechanical systems. 2010 IEEE International Conference on Control Applications 1678–1683 (2010) doi:10.1109/cca.2010.5611301 – 10.1109/cca.2010.5611301
• do?ria-cerezo, Modeling Simulation and Control of A Doubly-Fed Induction Machine Controlled by A Backto-Back Converter (2006)
• karnopp, System Dynamics-Modeling and Simulation of Mechatronic Systems (2005)
• Mei, S., Shen, T., Hu, W., Lu, Q. & Sun, L. Robus control of a Hamiltonian system with uncertainty and its application to a multi-machine power system. IEE Proc., Control Theory Appl. 152, 202–210 (2005) – 10.1049/ip-cta:20041121