Title :
Structure Preserving Adaptive Control of Port-Hamiltonian Systems
Author :
Dirksz, Daniel A. ; Scherpen, Jacquelien M. A.
Author_Institution :
Fac. of Math. & Natural Sci., Univ. of Groningen, Groningen, Netherlands
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; nonlinear control systems; adaptive control scheme; canonical transformation theory; control errors; general port-Hamiltonian systems; structure preserving adaptive control; uncertain parameter values; Adaptive control; Damping; Mechanical systems; Trajectory; Transmission line matrix methods; Vectors; Adaptive control; Euler–Lagrange; nonlinear systems; port-Hamiltonian;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2012.2192359
