Presentation
Practical Implementation of a Hamiltonian-Based Controller for a 2-DOF Platform
Author/s | Gómez-Estern Aguilar, Fabio
Aracil Santonja, Javier Rodríguez Rubio, Francisco |
Department | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática |
Publication Date | 2000 |
Deposit Date | 2021-01-28 |
Published in |
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ISBN/ISSN | 2405-8963 |
Abstract | This paper introduces a practical implementation of a nonlinear controller obtained from the new design technique called hamiltonian-based control. The Hamilton formulation of mechanical systems is used for linearization ... This paper introduces a practical implementation of a nonlinear controller obtained from the new design technique called hamiltonian-based control. The Hamilton formulation of mechanical systems is used for linearization and tracking in multivariable nonlinear systems. The method modifies the system energy function and its hamiltonian formulation. The open-loop and closed-loop Hamilton equations are made equal and hence a linearizing control law is obtained. Based on this principle, the system energy is transformed to have a desired shape and follow desired objectives. The resulting controller has been tested on a real platform. |
Funding agencies | European Commission (EC). Fondo Europeo de Desarrollo Regional (FEDER) |
Project ID. | TAP-98-0541
1FD97-0783 |
Citation | Gómez-Estern Aguilar, F., Aracil Santonja, J. y Rodríguez Rubio, F. (2000). Practical Implementation of a Hamiltonian-Based Controller for a 2-DOF Platform. En IFAC Symposium on robot control (441-446), Viena, Austria: Elsevier. |
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