The Interconnection and Damping Assignment passivity-based control method for port-controlled Hamiltonian systems is discussed. We propose a new definition of algebraic solution of the so-called matching equation. This notion is instrumental for the construction of an energy function on an extended state-space, which does not rely on the solution of any partial differential equation. We provide sufficient conditions that allow to preserve the port-Hamiltonian structure in the extended closed-loop system. The theory is validated on an electrostatic microactuator by assigning an interconnection and damping structure that cannot be imposed with the standard approach.
Nunna, K., Sassano, M., Astolfi, A. (2014). Dynamic Interconnection and Damping Assignment. In Proceedings of the IEEE Conference on Decision and Control (pp.1563-1568). Institute of Electrical and Electronics Engineers Inc. [10.1109/CDC.2014.7039622].
Dynamic Interconnection and Damping Assignment
Sassano, M.;Astolfi, A.
2014-01-01
Abstract
The Interconnection and Damping Assignment passivity-based control method for port-controlled Hamiltonian systems is discussed. We propose a new definition of algebraic solution of the so-called matching equation. This notion is instrumental for the construction of an energy function on an extended state-space, which does not rely on the solution of any partial differential equation. We provide sufficient conditions that allow to preserve the port-Hamiltonian structure in the extended closed-loop system. The theory is validated on an electrostatic microactuator by assigning an interconnection and damping structure that cannot be imposed with the standard approach.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
