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

Min Zheng, Tangqing Yuan and Tao Huang

Complexity, 2018, vol. 2018, 1-10

Abstract:

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.

Date: 2018
References: View complete reference list from CitEc
Citations:

Downloads: (external link)
http://downloads.hindawi.com/journals/8503/2018/8134230.pdf (application/pdf)
http://downloads.hindawi.com/journals/8503/2018/8134230.xml (text/xml)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:hin:complx:8134230

DOI: 10.1155/2018/8134230

Access Statistics for this article

More articles in Complexity from Hindawi
Bibliographic data for series maintained by Mohamed Abdelhakeem (mohamed.abdelhakeem@hindawi.com).