On Passivity-Based Control of Non-Classical Electromechanical Systems |
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| Authors: | Andreas Müller Uwe Jungnickel Gerald Kielau Peter Maiser |
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| Affiliation: | 1. Chair of Mechanics and Robotics, University Duisburg-Essen, Lotharstr. 1, 47057 Duisburg;2. Institute of Mechatronics, Reichenhainer Str. 88, 09126 Chemnitz |
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| Abstract: | Passivity-based control has exclusively been pursued for dynamical systems possessing energetic state functions that are quadratic in the generalized velocities. This assumption does not apply to many dynamical systems, for instance in electromechanics, thus passivity-based control has not been established for these classes of systems. This contribution presents an augmented PD control scheme for such systems. To this end the system dynamics is represented in the event space considered as a Finsler space. It is shown that in this setting the skew symmetry property is retained. A passivity-based augmented PD controller is designed in the event space, and restricted to the configuration space giving rise to a passivity-base control law. (© 2010 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim) |
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