Port-Hamiltonian approaches to motion generation for mechanical systems
Port-Hamiltonian approaches to motion generation for mechanical systems
复制标题
机械系统运动生成的波特哈密尔顿方法
DOI：
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发表时间：
2007
期刊：
影响因子：
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通讯作者：
S. Stramigioli
中科院分区：
文献类型：
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作者：
S. Sakai;S. Stramigioli
本文给出了机械端口-哈密顿系统运动生成的新方法。首先，我们提出了一种基于无阻尼分配的渐近镇定方法的生成方法。这种渐近镇定方法保留了闭环系统的哈密顿结构，尽管控制器本身不是一个端口-哈密顿系统。其次，我们提出了另一种基于未知阻尼的自适应渐近镇定方法。这种自适应渐近稳定器根本不使用阻尼的值和符号。最后，通过数值模拟验证了所提方法的有效性。
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.