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Controlled Invariant Distributions and Differential Properties Read chapter Read first chapter

2017 | OriginalPaper | Chapter

9. Position Control via Force Feedback in the Port-Hamiltonian Framework

Authors : Mauricio Muñoz-Arias, Jacquelien M. A. Scherpen, Daniel A. Dirksz

Published in: Nonlinear Systems

Publisher: Springer International Publishing

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Abstract

In this chapter, position control strategies via force feedback are presented for standard mechanical systems in the port-Hamiltonian framework. The presented control strategies require a set of coordinate transformations, since force feedback in the port-Hamiltonian framework is not straightforward. With the coordinate transformations force feedback can be realized while preserving the port-Hamiltonian structure. The port-Hamiltonian formalism offers a modeling framework with a clear physical structure and other properties that can often be exploited for control design purposes, which is why we believe it is important to preserve the structure. The proposed control strategies offer an alternative solution to position control with more tuning freedom and exploit knowledge of the system dynamics.

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Metadata
Title
Position Control via Force Feedback in the Port-Hamiltonian Framework
Authors
Mauricio Muñoz-Arias
Jacquelien M. A. Scherpen
Daniel A. Dirksz
Copyright Year
2017
Book
Nonlinear Systems

Print ISBN: 978-3-319-30356-7

Electronic ISBN: 978-3-319-30357-4

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-30357-4_9