Journal ArticleDOI
Kinetic-Potential Energy Shaping for Mechanical Systems With Applications to Tracking
Joel Ferguson,Alejandro Donaire,Richard H. Middleton +2 more
- Vol. 3, Iss: 4, pp 960-965
TLDR
A new closed-loop structure for mechanical systems with dissipation, controlled via energy shaping is proposed, which generalizes the well-established potential energy shaping technique by introducing a kinetic-potential function which has both configuration and momentum states as arguments.Abstract:
In this letter, we propose a new closed-loop structure for mechanical systems with dissipation, controlled via energy shaping. The structure generalizes the well-established potential energy shaping technique by introducing a kinetic-potential function which has both configuration and momentum states as arguments. As a consequence of this generalization, dissipation terms are able to be added to the configuration coordinates of the system, resulting in both exponential stability and input-to-state stability (ISS) properties of the closed-loop. The developments are applied to the tracking problem where it is shown that the scheme is ISS with respect to friction modelling error.read more
Citations
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Journal ArticleDOI
A Passivity Based Sliding Mode Controller for Simple Port-Hamiltonian Systems
TL;DR: This letter proves that there exist a special class of passivity based controllers which coincide with sliding mode ones, and enables us to obtain sliding mode control systems with explicit energy based Lyapunov functions.
Posted Content
Exponential Stability and Tuning for a Class of Mechanical Systems
TL;DR: The exponential stability property of a class of mechanical systems represented in the port-Hamiltonian framework is proved and a Lyapunov candidate function different from the Hamiltonian of the system is proposed.
Journal ArticleDOI
Robust Trajectory Tracking Control for Fully Actuated Marine Surface Vehicle
TL;DR: This paper presents a robust trajectory tracking control for a fully actuated marine surface vehicle obtained using a port-Hamiltonian model of the marine craft and includes an integral action to compensate for constant disturbances.
Journal ArticleDOI
On trajectory tracking control of simple port-Hamiltonian systems based on passivity based sliding mode control
TL;DR: In this article, a pair of a pre-coordinate transformation and a state feedback is proposed to obtain a desired error port-Hamiltonian system that describes the dynamics of the tracking error, which enables the design parameters satisfying a kind of matching condition to realize sliding mode control with a Lyapunov function.
Journal ArticleDOI
A Passivity-Based Sliding Mode Controller for a Class of Electro-Mechanical Systems
TL;DR: In this paper, the authors proposed a novel sliding mode control method for a class of electro-mechanical systems using passivity based approach, which allows one to obtain a wider class of Lyapunov function candidates.
References
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