Tracking control of a class of Hamiltonian mechanical systems with disturbances
Donaire, Alejandro, Perez, Tristan, & Bartlett, Nathan (2014) Tracking control of a class of Hamiltonian mechanical systems with disturbances. In Australian Conference on Robotics and Automation (ACRA 2014), 2-4 December 2014, University of Melbourne, Melbourne, VIC.
This paper presents a trajectory-tracking control strategy for a class of mechanical systems in Hamiltonian form. The class is characterised by a simplectic interconnection arising from the use of generalised coordinates and full actuation. The tracking error dynamic is modelled as a port-Hamiltonian Systems (PHS). The control action is designed to take the error dynamics into a desired closed-loop PHS characterised by a constant mass matrix and a potential energy with a minimum at the origin. A transformation of the momentum and a feedback control is exploited to obtain a constant generalised mass matrix in closed loop. The stability of the close-loop system is shown using the close-loop Hamiltonian as a Lyapunov function. The paper also considers the addition of integral action to design a robust controller that ensures tracking in spite of disturbances. As a case study, the proposed control design methodology is applied to a fully actuated robotic manipulator.
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|Item Type:||Conference Paper|
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2014 [Please consult the Authors]|
|Deposited On:||06 Mar 2015 01:22|
|Last Modified:||23 Nov 2015 22:36|
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