Exponentially stable tracking control in terms of Hamiltonian mechanics
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Date
2017
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Abstract
This paper deals with the control of electromechanical systems with more degrees of freedom. Dynamics is
primarily described by Hamilton’s equations. The Hamiltonian
formalism leads to different physical descriptive quantities,
considered for control design, than much more used Lagrangian
formalism. In the paper, as representative control approaches,
model-oriented exponentially stable control is considered. This
control algorithm is naturally robust and hence may be
implemented on technical devices.
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Subject(s)
Hamiltonian formalism, Lagrangian formalism, kinematic chains, tracking control, exponentialy stable control, robust control, model-based motion control
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ISBN
978-1-5090-4862-5