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A. Macchelli, C. Melchiorri, C. Secchi, C. Fantuzzi
"A variable structure approach to energy shaping"
 
Type Conference
Author(s) A. Macchelli, C. Melchiorri, C. Secchi, C. Fantuzzi
Title A variable structure approach to energy shaping
Editor 2003 European Control Conference, ECC'03 1-4 September, University of Cambridge, UK, 2003
Keywords port-Hamiltonian systems, variable-structure control, passive systems, energy shaping
Abstract
The port-Hamiltonian formalism is a very powerful tool for describing dynamical systems and their interconnections and for designing control laws with specified energetic properties. In this paper, in particular, it is shown how a variable structure control can be designed in this general framework in order to achieve a passive systems with, additionally, the robust properties obtainable with variable structure systems. Simulation results obtained with a 2-dof manipulator are reported and discussed in order to validate the proposed approach.
Document 6c5a.Document.pdf (146589 bytes)
Year 2003


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