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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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2018-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2018/8134230 |
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| _version_ | 1832560991824510976 |
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| author | Min Zheng Tangqing Yuan Tao Huang |
| author_facet | Min Zheng Tangqing Yuan Tao Huang |
| author_sort | Min Zheng |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-03166fd05c1a4c859ffd8fa3f2b45f21 |
| institution | Kabale University |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2018-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-03166fd05c1a4c859ffd8fa3f2b45f212025-02-03T01:26:11ZengWileyComplexity1076-27871099-05262018-01-01201810.1155/2018/81342308134230Time-Varying Impedance Control of Port Hamiltonian System with a New Energy-Storing TankMin Zheng0Tangqing Yuan1Tao Huang2College of Mechatronic Engineering and Automation, Shanghai University, Shanghai Key Laboratory of Power Station Automation Technology, 200072 Shanghai, ChinaCollege of Mechatronic Engineering and Automation, Shanghai University, 200072 Shanghai, ChinaCollege of Mechatronic Engineering and Automation, Shanghai University, 200072 Shanghai, ChinaIn 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.http://dx.doi.org/10.1155/2018/8134230 |
| spellingShingle | Min Zheng Tangqing Yuan Tao Huang Time-Varying Impedance Control of Port Hamiltonian System with a New Energy-Storing Tank Complexity |
| title | Time-Varying Impedance Control of Port Hamiltonian System with a New Energy-Storing Tank |
| title_full | Time-Varying Impedance Control of Port Hamiltonian System with a New Energy-Storing Tank |
| title_fullStr | Time-Varying Impedance Control of Port Hamiltonian System with a New Energy-Storing Tank |
| title_full_unstemmed | Time-Varying Impedance Control of Port Hamiltonian System with a New Energy-Storing Tank |
| title_short | Time-Varying Impedance Control of Port Hamiltonian System with a New Energy-Storing Tank |
| title_sort | time varying impedance control of port hamiltonian system with a new energy storing tank |
| url | http://dx.doi.org/10.1155/2018/8134230 |
| work_keys_str_mv | AT minzheng timevaryingimpedancecontrolofporthamiltoniansystemwithanewenergystoringtank AT tangqingyuan timevaryingimpedancecontrolofporthamiltoniansystemwithanewenergystoringtank AT taohuang timevaryingimpedancecontrolofporthamiltoniansystemwithanewenergystoringtank |