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Document type:
Konferenzbeitrag 
Contribution type:
Textbeitrag / Aufsatz 
Author(s):
Kotyczka, P.; Volf, A.; Lohmann, B. 
Title:
Passivity based trajectory tracking control with predefined local linear error dynamic 
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:
TUM Institution:
Lehrstuhl für Regelungstechnik 
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