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In industrial precision positioning systems the measurement position is hardly ever the same as the location of the actuator. The properties and imperfections of the actuator and the underlying components between the sensor and the actuator mainly lead to deterministic reproducible position errors. The advantage of these systematic cyclic disturbances is that they can be compensated for, once identified...
Mechanical systems can be asymptotically stabilized without velocity measurements by applying a dynamic extension. By interconnecting the system with a (virtual) controller damping is indirectly injected into the system making velocity measurements unnecessary, provided that this damping propagates to the mechanical system. The approach has been shown for the case of potential energy shaping and for...
A dynamic extension for position feedback of port-Hamiltonian mechanical systems is studied. First we look at the consequences for the matching equations when applying Inter-connection and Damping Assignment Passivity-Based Control (IDA-PBC). Then we look at the possibilities of asymptotically stabilizing a class of port-Hamiltonian mechanical systems without having to know the velocities, as once...
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