Port-Hamiltonian and power-based integral type control of a manipulator system

Authors

Abstract

Steady-state errors usually occur in the implementation of control algorithms on a system, caused by uncertainties and/or modeling errors. Such errors are traditionally eliminated by adding a simple integrator. However, a simple integrator for nonlinear systems usually spoils the structure of the modeling framework. For passive systems it has been shown that passivity loses its global character. Here, integral type controllers are presented for standard nonlinear mechanical systems, based on the port-Hamiltonian and power-based modeling frameworks. Experimental results are given for a planar manipulator system.

Keywords

Port-Hamiltonian systems; Brayton-Moser systems; nonlinear control; integral control; mechanical manipulators

Citation

Journal: IFAC Proceedings Volumes
Year: 2011
Volume: 44
Issue: 1
Pages: 13450–13455
Publisher: Elsevier BV
DOI: 10.3182/20110828-6-it-1002.01030
Note: 18th IFAC World Congress

BibTeX

@article{Dirksz_2011,
  title={{Port-Hamiltonian and power-based integral type control of a manipulator system}},
  volume={44},
  ISSN={1474-6670},
  DOI={10.3182/20110828-6-it-1002.01030},
  number={1},
  journal={IFAC Proceedings Volumes},
  publisher={Elsevier BV},
  author={Dirksz, D.A. and Scherpen, J.M.A.},
  year={2011},
  pages={13450--13455}
}

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References

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