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

D.A. Dirksz, J.M.A. Scherpen

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Steady-state errors usually occur in the implementation of control algorithms on a system, caused by uncertainties and/or modeling errors. Such errors are traditionally eliminated by adding a simple integrator. However, a simple integrator for nonlinear systems usually spoils the structure of the modeling framework. For passive systems it has been shown that passivity loses its global character. Here, integral type controllers are presented for standard nonlinear mechanical systems, based on the port-Hamiltonian and power-based modeling frameworks. Experimental results are given for a planar manipulator system.
Original languageEnglish
Title of host publicationProceedings of the 18th IFAC World Congress, 28 August - 2 September 2011, Milano, Italy
Publication statusPublished - 2011


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