Time-Varying Impedance Control of Port Hamiltonian System with a New Energy-Storing Tank
In order to guarantee the passivity of a kind of conservative system, the port Hamiltonian framework combined with a new energy tank is proposed in this paper. A time-varying impedance controller is designed based on this new framework. The time-varying impedance control method is an extension of co...
Main Authors: | , , |
---|---|
Format: | Article |
Language: | English |
Published: |
Hindawi-Wiley
2018-01-01
|
Series: | Complexity |
Online Access: | http://dx.doi.org/10.1155/2018/8134230 |