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.

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.
Advances in Control Theory and Applications - no. 353
85
98
C.Bonivento; L.Gentili; A.Paoli
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11585/35405
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