Time-Varying Impedance Control of Port Hamiltonian System with a New Energy-Storing Tank

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 co...

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Bibliographic Details
Published in:Complexity (New York, N.Y.) N.Y.), 2018-01, Vol.2018 (2018), p.1-10
Main Authors: Zheng, Min, Huang, Tao, Yuan, Tangqing
Format: Article
Language:English
Subjects:
Automation
Bone surgery
Computer simulation
Control algorithms
Control systems design
Control theory
Controllers
Energy
Hamiltonian functions
Impedance
International conferences
Robotics
Robots
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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.
ISSN:1076-2787
1099-0526
DOI:10.1155/2018/8134230