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Title:

Passivity based trajectory tracking control with predefined local linear error dynamic

Document type:
Konferenzbeitrag
Contribution type:
Textbeitrag / Aufsatz
Author(s):
Kotyczka, P.; Volf, A.; Lohmann, B.
Pages contribution:
pp. 3429-3434
Chapter contribution:
Article number 5531100
Abstract:
In this contribution a new systematic approach is presented to achieve desired local linear error dynamics for trajectory tracking of a nonlinear plant, where passivity based control by interconnection and damping assignment (IDA-PBC) is used to stabilize the error dynamics. Especially in the tracking case the solvability of the matching PDEs may restrict a state-independent dissipation matrix for the resulting time-varying port-Hamiltonian (pH) closed loop system to be singular. This in turn ma...     »
Keywords:
Control; Controllers; Damping assignement; controller parametrization; nonlinear control; passivity based control; trajectory tracking
Dewey Decimal Classification:
620 Ingenieurwissenschaften
Editor:
IEEE
Book / Congress title:
Proceedings of the American Control Conference (ACC)
Congress city:
Baltimore, USA
Date of congress:
30.6.-2.7.
Publisher:
IEEE
Date of publication:
29.07.2010
Year:
2010
Year / month:
2010-07
Month:
Jul
Covered by:
Scopus
Print-ISBN:
978-1-4244-7426-4
E-ISBN:
978-1-4244-7427-1
Bookseries ISSN:
2378-5861
Reviewed:
ja
Language:
en
Fulltext / DOI:
doi:10.1109/ACC.2010.5531100
TUM Institution:
Lehrstuhl für Regelungstechnik
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