By Topic

Augmented Hamiltonian Formulation and Energy-Based Control Design of Uncertain Mechanical Systems

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Yuzhen Wang ; Shandong Univ., Jinan ; Shuzhi Sam Ge

This paper mainly investigates augmented Hamiltonian formulation for both fully actuated and underactuated uncertain mechanical systems. First, a high-order partial derivative operator, called the unified partial derivative operator (UPDO), is given, and its properties are investigated, which plays a very important role in presenting the main results of this paper. Secondly, using the tool UPDO, the idea of shaping potential energy, and the pre-feedback technique, an augmented Hamiltonian structure with dissipation is provided for both fully actuated and underactuated uncertain mechanical systems. It is shown that the augmented Hamiltonian formulation has some nice properties for further analysis and control, and at the same time, its matching condition in the underactuated case becomes a set of algebraic equations, which are much easier to solve in comparison with solving a set of partial differential equations. Finally, as an application, the energy-based robust adaptive control is studied by using the augmented Hamiltonian formulation, and a new energy-based adaptive L 2 disturbance attenuation controller is designed for the uncertain mechanical systems. Study of an illustrative example with simulations shows that the controller obtained in this paper works very well in handling disturbances and uncertainties in the systems.

Published in:

Control Systems Technology, IEEE Transactions on  (Volume:16 ,  Issue: 2 )