Canonical transformations used to derive robot control laws from a port-controlled Hamiltonian system perspective

DOI10.1016/J.AUTOMATICA.2008.02.004zbMATH Open1153.93008OpenAlexW2085592746MaRDI QIDQ999064FDOQ999064

Authors: Juan Ignacio Mulero-Martínez 

Publication date: 30 January 2009

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2008.02.004

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zbMATH Keywords

nonlinear controlpassive compensationtracking systemsmechanical manipulators

Mathematics Subject Classification ID

Canonical structure (93B10) Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Transformations (93B17)

Cites Work

• Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems
• L\(_2\) gain and passivity techniques in nonlinear control.
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• On the stability of motion
• Dissipative systems analysis and control. Theory and applications
• A New Feedback Method for Dynamic Control of Manipulators
• Canonical transformation and stabilization of generalized Hamiltonian systems
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• Trajectory tracking control of port-controlled Hamiltonian systems via generalized canonical transformations.
• Model Tracking Control of Hamiltonian Systems
• A unified perspective on robot control: The energy lyapunov function approach
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Cited In (4)

• Position control via force feedback in the port-Hamiltonian framework
• Trajectory tracking control of port-controlled Hamiltonian systems via generalized canonical transformations.
• On a 3-D generalized Hamiltonian model with conservative and dissipative chaotic flows
• Conservative chaos in a class of nonconservative systems: theoretical analysis and numerical demonstrations

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