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.

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Abstract

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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ID Code: 82283
Item Type: Conference Paper
Refereed: Yes
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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