Time-Varying Impedance Control of Port Hamiltonian System with a New Energy-Storing Tank

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
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spelling doaj-03166fd05c1a4c859ffd8fa3f2b45f212020-11-24T21:22:23ZengHindawi-WileyComplexity1076-27871099-05262018-01-01201810.1155/2018/81342308134230Time-Varying Impedance Control of Port Hamiltonian System with a New Energy-Storing TankMin Zheng0Tangqing Yuan1Tao Huang2College of Mechatronic Engineering and Automation, Shanghai University, Shanghai Key Laboratory of Power Station Automation Technology, 200072 Shanghai, ChinaCollege of Mechatronic Engineering and Automation, Shanghai University, 200072 Shanghai, ChinaCollege of Mechatronic Engineering and Automation, Shanghai University, 200072 Shanghai, ChinaIn 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 conventional impedance control and overcomes the singularity problem that existed in the traditional form of energy tank. The validity of the controller designed in this paper is shown by numerical examples. The simulation results show that the proposed controller can not only eliminate the singularity problem but can also improve the control performance.http://dx.doi.org/10.1155/2018/8134230
collection DOAJ
language English
format Article
sources DOAJ
author Min Zheng
Tangqing Yuan
Tao Huang
spellingShingle Min Zheng
Tangqing Yuan
Tao Huang
Time-Varying Impedance Control of Port Hamiltonian System with a New Energy-Storing Tank
Complexity
author_facet Min Zheng
Tangqing Yuan
Tao Huang
author_sort Min Zheng
title Time-Varying Impedance Control of Port Hamiltonian System with a New Energy-Storing Tank
title_short Time-Varying Impedance Control of Port Hamiltonian System with a New Energy-Storing Tank
title_full Time-Varying Impedance Control of Port Hamiltonian System with a New Energy-Storing Tank
title_fullStr Time-Varying Impedance Control of Port Hamiltonian System with a New Energy-Storing Tank
title_full_unstemmed Time-Varying Impedance Control of Port Hamiltonian System with a New Energy-Storing Tank
title_sort time-varying impedance control of port hamiltonian system with a new energy-storing tank
publisher Hindawi-Wiley
series Complexity
issn 1076-2787
1099-0526
publishDate 2018-01-01
description 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 conventional impedance control and overcomes the singularity problem that existed in the traditional form of energy tank. The validity of the controller designed in this paper is shown by numerical examples. The simulation results show that the proposed controller can not only eliminate the singularity problem but can also improve the control performance.
url http://dx.doi.org/10.1155/2018/8134230
work_keys_str_mv AT minzheng timevaryingimpedancecontrolofporthamiltoniansystemwithanewenergystoringtank
AT tangqingyuan timevaryingimpedancecontrolofporthamiltoniansystemwithanewenergystoringtank
AT taohuang timevaryingimpedancecontrolofporthamiltoniansystemwithanewenergystoringtank
_version_ 1725996039722237952

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