Daniel Alonzo Dirksz

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In the presence of parameter uncertainty tracking control can result in significant tracking errors. To overcome this problem adaptive control is applied, which estimates and compensates for the errors of the uncertain parameters. A new adaptive tracking control scheme is presented for standard fully actuated port-Hamiltonian mechanical systems. The(More)
This work is devoted to a force control strategy of a class of standard mechanical systems in the port-Hamiltonian framework. First, a coordinate transformation is applied to equivalently describe the original port-Hamiltonian system in a port-Hamiltonian form which has a constant mass-inertia matrix in the Hamiltonian. Then, we show how to derive an(More)