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.

Nunna, K., Sassano, M., Astolfi, A. (2015). Constructive Interconnection and Damping Assignment for Port-Controlled Hamiltonian Systems. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 60(9), 2350-2361 [10.1109/TAC.2015.2400663].

Constructive Interconnection and Damping Assignment for Port-Controlled Hamiltonian Systems

SASSANO, MARIO;ASTOLFI, ALESSANDRO
2015-09-01

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.
Pubblicato
Rilevanza internazionale
Articolo
Esperti anonimi
Settore ING-INF/04 - Automatica
English
Con Impact Factor ISI
Interconnection and damping assignment passivity-based control (IDA-PBC).
Nunna, K., Sassano, M., Astolfi, A. (2015). Constructive Interconnection and Damping Assignment for Port-Controlled Hamiltonian Systems. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 60(9), 2350-2361 [10.1109/TAC.2015.2400663].
Nunna, K; Sassano, M; Astolfi, A
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/2108/126657
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