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A. Macchelli, C. Melchiorri, S. Stramigioli, A. van der Schaft, C. Secchi
"On the Constrained Dynamics of Port Hamiltonian Systems: Theory and Applications"
 
Type Article
Author(s) A. Macchelli, C. Melchiorri, S. Stramigioli, A. van der Schaft, C. Secchi
Title On the Constrained Dynamics of Port Hamiltonian Systems: Theory and Applications
Editor submitted to Automatica
Keywords Variable structure control; Passive control; Port Hamiltonian systems; Zero dynamics; Sliding mode
Abstract
In this paper, a novel passive control scheme able to conserve the Hamiltonian structure of a dynamical system when constrained on a sub-manifold of the state space is presented. The idea is to modify both the interconnection and damping structures of the system and to add a proper dynamical extension in such a way that the constraint can be related to dynamical invariants of the resulting closed-loop system. Within this scheme, it is shown in particular how it is possible to merge energy-based and variable structure control techniques in order to obtain passive controllers of port Hamiltonian systems with dissipation (pHd). In fact, an application of this general scheme is for example the following: if the constraint can be interpreted as a sliding surface, then it is possible to achieve a sliding-mode behavior that can be interpreted by means of energetic considerations. Another example shows how a variable structure controller can be designed in order to achieve a passive system with, additionally, the robustness properties obtainable with variable structure systems. In this case, simulation results with a 2-dof manipulator are reported and discussed in order to validate the proposed approach.
Year 2003


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