BEGIN:VCALENDAR VERSION:2.0 PRODID:researchseminars.org CALSCALE:GREGORIAN X-WR-CALNAME:researchseminars.org BEGIN:VEVENT SUMMARY:Jacquelien Scherpen (RU Groningen) DTSTART:20240531T090000Z DTEND:20240531T100000Z DTSTAMP:20260513T213211Z UID:PHSeminar/5 DESCRIPTION:Title: Contraction\, regulation\, trajectory tracking and coupled damping for c lasses of port-Hamiltonian systems\nby Jacquelien Scherpen (RU Groning en) as part of Port-Hamiltonian Seminar (pH Seminar)\n\n\nAbstract\nThis t alk investigates the regulation and trajectory tracking problems for class es of mechanical and Electromechanical (EM) systems. To this end\, we form ulate energy-based models within the port-Hamiltonian (pH) framework. Usin g the pH framework\, we employ standard Lyapunov theory and contraction th eory to develop control approaches with physical interpretation. These met hods are related to the well-known Interconnection and Damping Assignment Passivity-Based Control approach. However\, the proposed control methods r emove the need for solving partial differential equations or implementing any change of coordinates. In detail\, in the case of mechanical systems\ , we propose control design methods using dynamic extensions to remove vel ocity measurements from the controllers while rejecting matched and unmatc hed disturbances. In addition\, we suggest control approaches specifical ly using the notion of  coupled damping to enhance the performance of tra nsient response and the convergence rate in the EM systems. The applicabil ity of these methods is illustrated via different mechanical and electrome chanical applications.\n LOCATION:https://researchseminars.org/talk/PHSeminar/5/ END:VEVENT END:VCALENDAR