Modified energy-balancing-based control for the tracking problem

Authors

Abstract

The authors extend energy-balancing-based control for set-point regulation to the problem of trajectory tracking for Euler-Lagrange (EL) systems. In addition to producing a new tracking control, this method also provides a re-interpretation of established results, such as computed torque control, PD+ control and Slotine-Li control. The authors also consider port-controlled Hamiltonian (PCH) systems, which are more general than EL systems. They develop a new matching equation for PCH systems so that interconnection damping assignment passivity-based control (IDA-PBC) can be applied to the control of a larger class of under-actuated PCH systems and the tracking control of some non-passive systems.

Citation

Journal: IET Control Theory & Applications
Year: 2008
Volume: 2
Issue: 4
Pages: 310–322
Publisher: Institution of Engineering and Technology (IET)
DOI: 10.1049/iet-cta:20070124

BibTeX

@article{Wang_2008,
  title={{Modified energy-balancing-based control for the tracking problem}},
  volume={2},
  ISSN={1751-8652},
  DOI={10.1049/iet-cta:20070124},
  number={4},
  journal={IET Control Theory &amp; Applications},
  publisher={Institution of Engineering and Technology (IET)},
  author={Wang, Z. and Goldsmith, P.},
  year={2008},
  pages={310--322}
}

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References

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