Port-Hamiltonian approaches to motion generation for mechanical systems

Sakai, Satoru and Stramigioli, Stefano (2007) Port-Hamiltonian approaches to motion generation for mechanical systems. In: IEEE International Conference on Robotics and Automation, ICRA 2007, 10-14 May, 2007, Rome, Italy.

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Abstract:	This paper gives new motion generation methods for mechanical port-Hamiltonian systems. First, we propose a generation method based on an asymptotic stabilization method without damping assignment. This asymptotic stabilization method preserves the Hamiltonian structure in the closed-loop system although the controller itself is not a port-Hamiltonian system. Second, we propose another method based on an adaptive asymptotic stabilization method for unknown damping. This adaptive asymptotic stabilizer does not use the value and the sign of the damping at all. Finally, we confirm the effectiveness of our techniques in some numerical simulation.
Item Type:	Conference or Workshop Item
Copyright:	© 2007 IEEE
Faculty:	Electrical Engineering, Mathematics and Computer Science (EEMCS)
Research Group:	Robotics and Mechatronics (CE)
Link to this item:	http://purl.utwente.nl/publications/63959
Official URL:	http://dx.doi.org/10.1109/ROBOT.2007.363607
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