Time-Varying Impedance Control of Port Hamiltonian System with a New Energy-Storing Tank
Joint Authors
Zheng, Min
Huang, Tao
Yuan, Tangqing
Source
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-11-01
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Zheng, Min& Yuan, Tangqing& Huang, Tao. 2018. Time-Varying Impedance Control of Port Hamiltonian System with a New Energy-Storing Tank. Complexity،Vol. 2018, no. 2018, pp.1-10.
https://search.emarefa.net/detail/BIM-1136027
Modern Language Association (MLA)
Zheng, Min…[et al.]. Time-Varying Impedance Control of Port Hamiltonian System with a New Energy-Storing Tank. Complexity No. 2018 (2018), pp.1-10.
https://search.emarefa.net/detail/BIM-1136027
American Medical Association (AMA)
Zheng, Min& Yuan, Tangqing& Huang, Tao. Time-Varying Impedance Control of Port Hamiltonian System with a New Energy-Storing Tank. Complexity. 2018. Vol. 2018, no. 2018, pp.1-10.
https://search.emarefa.net/detail/BIM-1136027
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1136027