Port-Hamiltonian and power-based integral type control of a manipulator system

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 44, Issue 1 PART 1, 2011, Pages 13450-13455

  Dirksz, D A ^a   Scherpen, J M A ^b  

^a EINDHOVEN UNIVERSITY OF TECHNOLOGY   (Netherlands)

^b UNIVERSITY OF GRONINGEN   (Netherlands)

Author keywords

Brayton Moser systems; Integral control; Mechanical manipulators; Nonlinear control; Port Hamiltonian systems

Indexed keywords

ERRORS; MANIPULATORS; UNCERTAINTY ANALYSIS;

BRAYTON; INTEGRAL CONTROL; MECHANICAL MANIPULATORS; NON LINEAR CONTROL; PORT-HAMILTONIAN SYSTEMS;

HAMILTONIANS;

EID: 84866760623     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.3182/20110828-6-IT-1002.01030     Document Type: Conference Paper

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