Abstract
AbstractChapter 11 presents the design of nonlinear controllers for a two-link robot based on Hamiltonian Surface Shaping and Power Flow Control (HSSPFC). HSSPFC is demonstrated to be an extension of controlled Lagrangians, energy-balancing, and energy-shaping by developing necessary and sufficient conditions for stability of a class of nonlinear systems, Hamiltonian natural systems, based on the recognition that the Hamiltonian is stored exergy. The nonlinear dynamic stability constraint is shown to be equivalent to the Melnikov number for heteroclinic orbits. HSSPFC is used to design nonlinear regulator and tracking controllers with defined stability boundaries including limit cycles. Also, the minimum energy state controller of energy-balancing is demonstrated to be a maximum entropy state controller based on HSSPFC. Numerical simulations are presented for the tracking controller design.KeywordsPower FlowHeteroclinic OrbitTracking ControllerRigid Body ModeTracking Position ErrorThese keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
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