Structure Preserving Adaptive Control of Port-Hamiltonian Systems

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 th...

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Bibliographic Details
Published in:IEEE transactions on automatic control 2012-11, Vol.57 (11), p.2880-2885
Main Authors: Dirksz, D. A., Scherpen, J. M. A.
Format: Article
Language:English
Subjects:
Adaptative systems
Adaptive control
Applied sciences
Automatic control
Computer science
control theory
systems
Control systems
Control theory. Systems
Damping
Euler-Lagrange
Exact sciences and technology
Mechanical systems
Modelling and identification
nonlinear systems
Permissible error
port-Hamiltonian
Preserving
Trajectory
Transformations
Transmission line matrix methods
Vectors
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Summary: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.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2012.2192359