| Presentation | 2008-11-06 Passive path following control of port-Hamiltonian systems Mitsuru TANIGUCHI, Kenji FUJIMOTO, |
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| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | This paper is devoted to path following control for port-Hamiltonian systems which have energy dissipation mechanism. The control law presented here is extension of an existing passive velocity field controller for fully actuated mechanical systems. The proposed method employs vector fields on co-tangent spaces instead of those on tangent spaces. Since port-Hamiltonian systems can describe a wider class of systems than conventional mechanical ones, the proposed method is applicable to various systems. Furthermore, in the proposed method we can determine velocity of systems and direction systems move on reference path. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Hamiltonian systems / path following control / virtual potential field / vector field / velocity control |
| Paper # | NLP2008-68 |
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| Conference Information | |
| Committee | NLP |
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| Conference Date | 2008/10/30(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| Registration To | Nonlinear Problems (NLP) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Passive path following control of port-Hamiltonian systems |
| Sub Title (in English) | |
| Keyword(1) | Hamiltonian systems |
| Keyword(2) | path following control |
| Keyword(3) | virtual potential field |
| Keyword(4) | vector field |
| Keyword(5) | velocity control |
| 1st Author's Name | Mitsuru TANIGUCHI |
| 1st Author's Affiliation | Graduate School of engineering, Nagoya University() |
| 2nd Author's Name | Kenji FUJIMOTO |
| 2nd Author's Affiliation | Graduate School of engineering, Nagoya University |
| Date | 2008-11-06 |
| Paper # | NLP2008-68 |
| Volume (vol) | vol.108 |
| Number (no) | 276 |
| Page | pp.pp.- |
| #Pages | 6 |
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