Constructive interconnection and damping assignment for port-controlled Hamiltonian systems
File(s)IDA-PBCtwocolumn.pdf (407.44 KB)
Accepted version
Author(s)
Nunna, K
Sassano, M
Astolfi, A
Type
Journal Article
Abstract
The Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) problem for port-controlled Hamiltonian systems is revisited. We propose a methodology that exploits the novel notion of algebraic solution of the so-called matching equation. This notion is instrumental for the construction of an energy function, defined on an extended state-space, which does not rely upon the solution of any partial differential equation. This yields, differently from the classical solution, a dynamic state feedback that stabilizes a desired equilibrium point. In addition, conditions that allow to preserve the port-controlled Hamiltonian structure in the extended closed-loop system are provided. The theory is validated on two physical systems: the magnetic levitated ball and a third order food-chain system. A dynamic control law is constructed for both these systems by assigning a damping factor that cannot be assigned by the classical IDA-PBC.
Date Issued
2015-09-01
Date Acceptance
2015-02-01
ISSN
0018-9286
Publisher
Institute of Electrical and Electronics Engineers
Start Page
2350
End Page
2361
Journal / Book Title
IEEE Transactions on Automatic Control
Volume
60
Issue
9
Copyright Statement
© 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Sponsor
Engineering & Physical Science Research Council (EPSRC)
Identifier
https://ieeexplore.ieee.org/document/7036085
http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000360501800005&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=1ba7043ffcc86c417c072aa74d649202
Grant Number
EP/G066477/1
Subjects
Science & Technology
Technology
Automation & Control Systems
Engineering, Electrical & Electronic
Engineering
Interconnection and damping assignment passivity-based control (IDA-PBC)
PASSIVITY-BASED CONTROL
MECHANICAL SYSTEMS
CONTROLLED LAGRANGIANS
STABILIZATION
0102 Applied Mathematics
0906 Electrical and Electronic Engineering
0913 Mechanical Engineering
Industrial Engineering & Automation
Publication Status
Published
Date Publish Online
2015-02-09