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)
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;
Conference_Titel :
European Control Conference (ECC), 2003
Conference_Location :
Cambridge, UK
Print_ISBN :
978-3-9524173-7-9
