Structure Preserving Adaptive Control of Port-Hamiltonian Systems

Daniel A. Dirksz; Jacquelien M. A. Scherpen

doi:10.1109/TAC.2012.2192359

Structure Preserving Adaptive Control of Port-Hamiltonian Systems

Daniel A. Dirksz^*, Jacquelien M. A. Scherpen

^*Corresponding author voor dit werk

Onderzoeksoutput: Article › Academic › peer review

35 Citaten (Scopus)

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In this technical note, an adaptive control scheme is presented for general port-Hamiltonian systems. Adaptive control is used to compensate for control errors that are caused by unknown or uncertain parameter values of a system. The adaptive control is also combined with canonical transformation theory for port-Hamiltonian systems. This allows for the adaptive control to be applied on a large class of systems and for being included in the port-Hamiltonian framework.

Originele taal-2	English
Pagina's (van-tot)	2880-2885
Aantal pagina's	6
Tijdschrift	IEEE Transactions on Automatic Control
Volume	57
Nummer van het tijdschrift	11
DOI's	https://doi.org/10.1109/TAC.2012.2192359
Status	Published - nov.-2012

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title = "Structure Preserving Adaptive Control of Port-Hamiltonian Systems",

abstract = "In this technical note, an adaptive control scheme is presented for general port-Hamiltonian systems. Adaptive control is used to compensate for control errors that are caused by unknown or uncertain parameter values of a system. The adaptive control is also combined with canonical transformation theory for port-Hamiltonian systems. This allows for the adaptive control to be applied on a large class of systems and for being included in the port-Hamiltonian framework.",

keywords = "Adaptive control, Euler-Lagrange, nonlinear systems, port-Hamiltonian, CANONICAL-TRANSFORMATIONS, DAMPING ASSIGNMENT, STABILIZATION, INTERCONNECTION, MANIPULATOR, TRACKING",

author = "Dirksz, {Daniel A.} and Scherpen, {Jacquelien M. A.}",

year = "2012",

month = nov,

doi = "10.1109/TAC.2012.2192359",

language = "English",

volume = "57",

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journal = "IEEE Transactions on Automatic Control",

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AU - Dirksz, Daniel A.

AU - Scherpen, Jacquelien M. A.

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N2 - In this technical note, an adaptive control scheme is presented for general port-Hamiltonian systems. Adaptive control is used to compensate for control errors that are caused by unknown or uncertain parameter values of a system. The adaptive control is also combined with canonical transformation theory for port-Hamiltonian systems. This allows for the adaptive control to be applied on a large class of systems and for being included in the port-Hamiltonian framework.

AB - In this technical note, an adaptive control scheme is presented for general port-Hamiltonian systems. Adaptive control is used to compensate for control errors that are caused by unknown or uncertain parameter values of a system. The adaptive control is also combined with canonical transformation theory for port-Hamiltonian systems. This allows for the adaptive control to be applied on a large class of systems and for being included in the port-Hamiltonian framework.

KW - Adaptive control

KW - Euler-Lagrange

KW - nonlinear systems

KW - port-Hamiltonian

KW - CANONICAL-TRANSFORMATIONS

KW - DAMPING ASSIGNMENT

KW - STABILIZATION

KW - INTERCONNECTION

KW - MANIPULATOR

KW - TRACKING

U2 - 10.1109/TAC.2012.2192359

DO - 10.1109/TAC.2012.2192359

M3 - Article

SN - 0018-9286

VL - 57

SP - 2880

EP - 2885

JO - IEEE Transactions on Automatic Control

JF - IEEE Transactions on Automatic Control

IS - 11

ER -

Structure Preserving Adaptive Control of Port-Hamiltonian Systems

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