Time‐Varying Impedance Control of Port Hamiltonian System with a New Energy‐Storing Tank
Authors
Min Zheng, Tangqing Yuan, Tao Huang
Abstract
In order to guarantee the passivity of a kind of conservative system, the port Hamiltonian framework combined with a new energy tank is proposed in this paper. A time‐varying impedance controller is designed based on this new framework. The time‐varying impedance control method is an extension of conventional impedance control and overcomes the singularity problem that existed in the traditional form of energy tank. The validity of the controller designed in this paper is shown by numerical examples. The simulation results show that the proposed controller can not only eliminate the singularity problem but can also improve the control performance.
Citation
- Journal: Complexity
- Year: 2018
- Volume: 2018
- Issue: 1
- Pages:
- Publisher: Wiley
- DOI: 10.1155/2018/8134230
BibTeX
@article{Zheng_2018,
title={{Time‐Varying Impedance Control of Port Hamiltonian System with a New Energy‐Storing Tank}},
volume={2018},
ISSN={1099-0526},
DOI={10.1155/2018/8134230},
number={1},
journal={Complexity},
publisher={Wiley},
author={Zheng, Min and Yuan, Tangqing and Huang, Tao},
editor={Zhou, Yimin},
year={2018}
}
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