Model Tracking Control of Hamiltonian Systems

DOI10.1115/1.3153109MaRDI QIDQ3483181zbMATH OpenOpenAlexFDO

Authors Henryk Flashner, J. M. Skowronski

Publication date 1989

Published in Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1115/1.3153109

zbMATH Keywords

Hamilton's canonical equationsLyapunov stability approachmodel reference adaptive controltracking

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Nonlinear systems in control theory (93C10) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Stabilization of systems by feedback (93D15)

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• Low-speed motion control of a mechanical system
• Canonical transformations used to derive robot control laws from a port-controlled Hamiltonian system perspective

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