Time-varying impedance control of port Hamiltonian system with a new energy-storing tank
Summary: In order to guarantee the passivity of a kind of conservative system, the port Hamiltonian framework combined with a new energy tank is proposed in this paper. A time-varying impedance controller is designed based on this new framework. The time-varying impedance control method is an extension of conventional impedance control and overcomes the singularity problem that existed in the traditional form of energy tank. The validity of the controller designed in this paper is shown by numerical examples. The simulation results show that the proposed controller can not only eliminate the singularity problem but can also improve the control performance.
- Energy-based feedback control for stochastic port-controlled Hamiltonian systems
- Energy-based control for hybrid port-controlled Hamiltonian systems.
- A constructive procedure for energy shaping of port-Hamiltonian systems
- Modelling and control of multi-energy systems: an irreversible port-Hamiltonian approach
- scientific article; zbMATH DE number 1361608
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- Problems on time-varying port-controlled Hamiltonian systems: geometric structure and dissipative realization
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