The Interconnection and Damping Assignment passivity-based control method for port-controlled Hamiltonian systems is discussed. We propose a novel construction which exploits the notion of algebraic solution of the so-called matching equation. The latter notion is instrumental in constructing an energy function defined on an extended state-space without involving the solution of any partial differential equation. This results, differently from the classical solution, in a dynamic state feedback that stabilizes a desired equilibrium point. Finally we show that, in the linear time-invariant case and under standard assumptions, the proposed methodology provides the standard passivity-based controller. © 2013 AACC American Automatic Control Council.
Nunna, K., Sassano, M., Astolfi, A. (2013). Constructive interconnection and Damping Assignment for port-controlled Hamiltonian. In Proceedings of the American Control Conference (pp.1810-1815).
Constructive interconnection and Damping Assignment for port-controlled Hamiltonian
Sassano, M.;Astolfi, A.
2013-01-01
Abstract
The Interconnection and Damping Assignment passivity-based control method for port-controlled Hamiltonian systems is discussed. We propose a novel construction which exploits the notion of algebraic solution of the so-called matching equation. The latter notion is instrumental in constructing an energy function defined on an extended state-space without involving the solution of any partial differential equation. This results, differently from the classical solution, in a dynamic state feedback that stabilizes a desired equilibrium point. Finally we show that, in the linear time-invariant case and under standard assumptions, the proposed methodology provides the standard passivity-based controller. © 2013 AACC American Automatic Control Council.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
