Time-varying impedance control of port Hamiltonian system with a new energy-storing tank
type: Item
instance of: scholarly article
title: Time-varying impedance control of port Hamiltonian system with a new energy-storing tank
zbMATH Open document ID: 1407.93275
DOI: 10.1155/2018/8134230
author: Min Zheng
author: Tangqing Yuan
author: Tao Huang
published in: Complexity
publication date: 2019-02-19T00:00:00Z
review text: Summary: In order to guarantee the passivity of a kind of conservative system, the port Hamiltonian framework combined with a new energy tank is proposed in this paper. A time-varying impedance controller is designed based on this new framework. The time-varying impedance control method is an extension of conventional impedance control and overcomes the singularity problem that existed in the traditional form of energy tank. The validity of the controller designed in this paper is shown by numerical examples. The simulation results show that the proposed controller can not only eliminate the singularity problem but can also improve the control performance.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 93C15
zbMATH DE Number: 7025004
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2018/8134230
OpenAlex ID: W2898701779
cites work: Impedance Control: An Approach to Manipulation: Part III—Applications
cites work: Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems
cites work: A novel induction motor control scheme using IDA-PBC
Wikidata QID: Q129002273
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description: scientific article; zbMATH DE number 7025004