DocumentCode
702023
Title
A variable structure approach to energy shaping
Author
Macchelli, A. ; Melchiorri, C. ; Secchi, C. ; Fantuzzi, C.
Author_Institution
Università di Bologna, DEIS, viale Risorgimento 2, 40136 Bologna (Italy)
fYear
2003
fDate
1-4 Sept. 2003
Firstpage
1309
Lastpage
1314
Abstract
The port-Hamiltonian formalism is a very powerful tool for describing dynamical systems and their interconnections and for designing control laws with specified energetic properties. In this paper, in particular, it is shown how a variable structure control can be designed in this general framework in order to achieve a passive systems with, additionally, the robust properties obtainable with variable structure systems. Simulation results obtained with a 2-dof manipulator are reported and discussed in order to validate the proposed approach.
Keywords
Actuators; Damping; Force; Joints; Manipulators; Springs; energy shaping; passive systems; port-Hamiltonian systems; variable-structure control;
fLanguage
English
Publisher
ieee
Conference_Titel
European Control Conference (ECC), 2003
Conference_Location
Cambridge, UK
Print_ISBN
978-3-9524173-7-9
Type
conf
Filename
7085142
Link To Document