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Structure Preserving Adaptive Control of Port-Hamiltonian Systems

By Daniel A. Dirksz and Jacquelien M.A. Scherpen

Abstract

In this technical note, an adaptive control scheme is presented for general port-Hamiltonian systems. Adaptive control is used to compensate for control errors that are caused by unknown or uncertain parameter values of a system. The adaptive control is also combined with canonical transformation theory for port-Hamiltonian systems. This allows for the adaptive control to be applied on a large class of systems and for being included in the port-Hamiltonian framework.

Year: 2012
OAI identifier: oai:ub.rug.nl:dbi/5127950fe2145
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