Direct discrete-time control of port controlled Hamiltonian systems
The direct discrete time control of Port Controlled Hamiltonian Systems (PCHS) in the sense of energy shaping and damping injection is considered. In order to give a direct discrete time design method for PCHS, firstly an appropriate discrete gradient is proposed, which enables the derivation of a d...
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| Veröffentlicht in: | Elektrik : Turkish journal of electrical engineering & computer sciences 2010-01, Vol.18 (5), p.913-924 |
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| container_title | Elektrik : Turkish journal of electrical engineering & computer sciences |
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| creator | YALÇIN, YAPRAK SÜMER, LEYLA GÖREN |
| description | The direct discrete time control of Port Controlled Hamiltonian Systems (PCHS) in the sense of energy
shaping and damping injection is considered. In order to give a direct discrete time design method for PCHS,
firstly an appropriate discrete gradient is proposed, which enables the derivation of a discrete time equation
corresponding to the discrete time counterpart of Hamiltonian Systems. Using this proposed discrete-time
model, the discrete-time counterpart of Passivity Based Control (PBC) technique is developed for n-degreesof-
freedom mechanical systems. The discrete-time control rules which correspond to the energy shaping and
damping assignment are obtained directly using the discrete time model of the desired system and the discrete
time model of the open loop systems. To illustrate the effectiveness of the proposed method, two non-separable
and under actuated examples are investigated and the simulation results are given. |
| doi_str_mv | 10.3906/elk-0906-28 |
| format | Article |
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shaping and damping injection is considered. In order to give a direct discrete time design method for PCHS,
firstly an appropriate discrete gradient is proposed, which enables the derivation of a discrete time equation
corresponding to the discrete time counterpart of Hamiltonian Systems. Using this proposed discrete-time
model, the discrete-time counterpart of Passivity Based Control (PBC) technique is developed for n-degreesof-
freedom mechanical systems. The discrete-time control rules which correspond to the energy shaping and
damping assignment are obtained directly using the discrete time model of the desired system and the discrete
time model of the open loop systems. To illustrate the effectiveness of the proposed method, two non-separable
and under actuated examples are investigated and the simulation results are given.</description><identifier>ISSN: 1303-6203</identifier><identifier>ISSN: 1300-0632</identifier><identifier>EISSN: 1303-6203</identifier><identifier>DOI: 10.3906/elk-0906-28</identifier><language>eng</language><publisher>TÜBİTAK</publisher><subject>Benzetim ; Control Engineering ; discrete time system ; Genel Fizik ve Temel Fizik ; Hamilton sistemi ; Hamiltonian system ; Kesikli zaman sistemi ; Kontrol Mühendisliği ; Physics in General and Fundamental Physics ; simulation ; time control ; Zaman kontrolü</subject><ispartof>Elektrik : Turkish journal of electrical engineering & computer sciences, 2010-01, Vol.18 (5), p.913-924</ispartof><lds50>peer_reviewed</lds50><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><link.rule.ids>314,776,780,4010,27900,27901,27902</link.rule.ids></links><search><creatorcontrib>YALÇIN, YAPRAK</creatorcontrib><creatorcontrib>SÜMER, LEYLA GÖREN</creatorcontrib><title>Direct discrete-time control of port controlled Hamiltonian systems</title><title>Elektrik : Turkish journal of electrical engineering & computer sciences</title><description>The direct discrete time control of Port Controlled Hamiltonian Systems (PCHS) in the sense of energy
shaping and damping injection is considered. In order to give a direct discrete time design method for PCHS,
firstly an appropriate discrete gradient is proposed, which enables the derivation of a discrete time equation
corresponding to the discrete time counterpart of Hamiltonian Systems. Using this proposed discrete-time
model, the discrete-time counterpart of Passivity Based Control (PBC) technique is developed for n-degreesof-
freedom mechanical systems. The discrete-time control rules which correspond to the energy shaping and
damping assignment are obtained directly using the discrete time model of the desired system and the discrete
time model of the open loop systems. To illustrate the effectiveness of the proposed method, two non-separable
and under actuated examples are investigated and the simulation results are given.</description><subject>Benzetim</subject><subject>Control Engineering</subject><subject>discrete time system</subject><subject>Genel Fizik ve Temel Fizik</subject><subject>Hamilton sistemi</subject><subject>Hamiltonian system</subject><subject>Kesikli zaman sistemi</subject><subject>Kontrol Mühendisliği</subject><subject>Physics in General and Fundamental Physics</subject><subject>simulation</subject><subject>time control</subject><subject>Zaman kontrolü</subject><issn>1303-6203</issn><issn>1300-0632</issn><issn>1303-6203</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2010</creationdate><recordtype>article</recordtype><recordid>eNpNkM1LxDAUxIMouK6ePAu5S_Qlr0mbo9SPFRa86Lm06QvEbbdLEg_737tlFT3NDDPM4cfYtYQ7tGDuadgIOBihqhO2kAgojAI8_efP2UVKnwCgoSgXrH4MkVzmfUguUiaRw0jcTdscp4FPnu-mmH_zQD1ftWMY8rQN7Zanfco0pkt25tsh0dWPLtnH89N7vRLrt5fX-mEtnNKQhTZKa5K9wbIvu6ovjdcWVGG1NcpCh6oiBPISO2297bRzhlwH1inbU4G4ZDfH36-h3XRhbHYxjG3cN1IalHN_e-xdnFKK5P8G0Mx8mgOfZubTqAq_AUJtWCs</recordid><startdate>20100101</startdate><enddate>20100101</enddate><creator>YALÇIN, YAPRAK</creator><creator>SÜMER, LEYLA GÖREN</creator><general>TÜBİTAK</general><scope>AAYXX</scope><scope>CITATION</scope></search><sort><creationdate>20100101</creationdate><title>Direct discrete-time control of port controlled Hamiltonian systems</title><author>YALÇIN, YAPRAK ; SÜMER, LEYLA GÖREN</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c250t-56255e1d637d7b8d76f590249596290b328e30ef13b59f9b5cc6ecb09c29de433</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2010</creationdate><topic>Benzetim</topic><topic>Control Engineering</topic><topic>discrete time system</topic><topic>Genel Fizik ve Temel Fizik</topic><topic>Hamilton sistemi</topic><topic>Hamiltonian system</topic><topic>Kesikli zaman sistemi</topic><topic>Kontrol Mühendisliği</topic><topic>Physics in General and Fundamental Physics</topic><topic>simulation</topic><topic>time control</topic><topic>Zaman kontrolü</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>YALÇIN, YAPRAK</creatorcontrib><creatorcontrib>SÜMER, LEYLA GÖREN</creatorcontrib><collection>CrossRef</collection><jtitle>Elektrik : Turkish journal of electrical engineering & computer sciences</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>YALÇIN, YAPRAK</au><au>SÜMER, LEYLA GÖREN</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Direct discrete-time control of port controlled Hamiltonian systems</atitle><jtitle>Elektrik : Turkish journal of electrical engineering & computer sciences</jtitle><date>2010-01-01</date><risdate>2010</risdate><volume>18</volume><issue>5</issue><spage>913</spage><epage>924</epage><pages>913-924</pages><issn>1303-6203</issn><issn>1300-0632</issn><eissn>1303-6203</eissn><abstract>The direct discrete time control of Port Controlled Hamiltonian Systems (PCHS) in the sense of energy
shaping and damping injection is considered. In order to give a direct discrete time design method for PCHS,
firstly an appropriate discrete gradient is proposed, which enables the derivation of a discrete time equation
corresponding to the discrete time counterpart of Hamiltonian Systems. Using this proposed discrete-time
model, the discrete-time counterpart of Passivity Based Control (PBC) technique is developed for n-degreesof-
freedom mechanical systems. The discrete-time control rules which correspond to the energy shaping and
damping assignment are obtained directly using the discrete time model of the desired system and the discrete
time model of the open loop systems. To illustrate the effectiveness of the proposed method, two non-separable
and under actuated examples are investigated and the simulation results are given.</abstract><pub>TÜBİTAK</pub><doi>10.3906/elk-0906-28</doi><tpages>12</tpages><oa>free_for_read</oa></addata></record> |
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| identifier | ISSN: 1303-6203 |
| ispartof | Elektrik : Turkish journal of electrical engineering & computer sciences, 2010-01, Vol.18 (5), p.913-924 |
| issn | 1303-6203 1300-0632 1303-6203 |
| language | eng |
| recordid | cdi_ulakbim_primary_116313 |
| source | Elektronische Zeitschriftenbibliothek - Frei zugängliche E-Journals; TÜBİTAK Scientific Journals |
| subjects | Benzetim Control Engineering discrete time system Genel Fizik ve Temel Fizik Hamilton sistemi Hamiltonian system Kesikli zaman sistemi Kontrol Mühendisliği Physics in General and Fundamental Physics simulation time control Zaman kontrolü |
| title | Direct discrete-time control of port controlled Hamiltonian systems |
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