DocumentCode
1480680
Title
Structure Preserving Adaptive Control of Port-Hamiltonian Systems
Author
Dirksz, Daniel A. ; Scherpen, Jacquelien M. A.
Author_Institution
Fac. of Math. & Natural Sci., Univ. of Groningen, Groningen, Netherlands
Volume
57
Issue
11
fYear
2012
Firstpage
2880
Lastpage
2885
Abstract
In this technical note, an adaptive control scheme is presented for general port-Hamiltonian systems. Adaptive control is used to compensate for control errors that are caused by unknown or uncertain parameter values of a system. The adaptive control is also combined with canonical transformation theory for port-Hamiltonian systems. This allows for the adaptive control to be applied on a large class of systems and for being included in the port-Hamiltonian framework.
Keywords
adaptive control; nonlinear control systems; adaptive control scheme; canonical transformation theory; control errors; general port-Hamiltonian systems; structure preserving adaptive control; uncertain parameter values; Adaptive control; Damping; Mechanical systems; Trajectory; Transmission line matrix methods; Vectors; Adaptive control; Euler–Lagrange; nonlinear systems; port-Hamiltonian;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/TAC.2012.2192359
Filename
6176204
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