In this chapter an internal model based approach to periodic input disturbance suppression for port-Hamiltonian systems is presented; more specifically, an adaptive solution able to deal with unknown periodic signal belonging to a given class is introduced. After an introductive section, the adaptive internal model design procedure is presented in order to solve the input disturbance problem. This theoretical machinery is specialized for the energy based port-Hamiltonian framework in order to prove the global asymptotical stability of the solution. Finally, in order to clearly point out the effectiveness of the presented design procedure a tracking problem is solved for a robotic manipulator affected by torque ripples.
C.Bonivento, L.Gentili, A.Paoli (2007). Input disturbance suppression for Port-Hamiltonian systems. HEILDELBERG : Springer-Verlag [10.1007/978-3-540-70701-1_5].
Input disturbance suppression for Port-Hamiltonian systems
BONIVENTO, CLAUDIO;GENTILI, LUCA;PAOLI, ANDREA
2007
Abstract
In this chapter an internal model based approach to periodic input disturbance suppression for port-Hamiltonian systems is presented; more specifically, an adaptive solution able to deal with unknown periodic signal belonging to a given class is introduced. After an introductive section, the adaptive internal model design procedure is presented in order to solve the input disturbance problem. This theoretical machinery is specialized for the energy based port-Hamiltonian framework in order to prove the global asymptotical stability of the solution. Finally, in order to clearly point out the effectiveness of the presented design procedure a tracking problem is solved for a robotic manipulator affected by torque ripples.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
