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...

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Bibliographic Details
Main Authors: Min Zheng, Tangqing Yuan, Tao Huang
Format: Article
Language:English
Published: Hindawi-Wiley 2018-01-01
Series:Complexity
Online Access:http://dx.doi.org/10.1155/2018/8134230