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This paper gives a new passivity based control of hydraulic arms based on a new model using ldquonaturalrdquo Casimir functions. Not only passivity but also Casimir functions are used in the modeling and control as a new structural property. First, we refer port-Hamiltonian systems and their properties. Second, we propose two stabilization methods, a new dynamic asymptotic stabilization method and...
This paper gives new motion generation methods for mechanical port-Hamiltonian systems. First, we propose a generation method based on an asymptotic stabilization method without damping assignment. This asymptotic stabilization method preserves the Hamiltonian structure in the closed-loop system although the controller itself is not a port-Hamiltonian system. Second, we propose another method based...
This paper is concerned with discontinuous output feedback stabilization of a class of nonholonomic systems in port-controlled Hamiltonian forms. First, in order to obtain a dynamic feedback, an integrator is added to the systems via generalized canonical transformations. Second, we will clarify equivalence between asymptotic stability of a state feedback system and that of the corresponding output...
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