NDLI: Shaping the energy of port-Hamiltonian systems without solving PDE's

Content Provider	IEEE Xplore Digital Library
Author	Borja, Pablo Cisneros, Rafael Ortega, Romeo
Copyright Year	2015
Description	Author affiliation: Laboratoire des Signaux et Systèmes, CNRS-Supelec, Plateau du Moulon, 91192 Gif-sur-Yvette, France (Borja, Pablo; Cisneros, Rafael; Ortega, Romeo)
Abstract	Equilibrium stabilisation of nonlinear systems via energy shaping is a well-established, robust, passivity-based controller design technique. Unfortunately, its application is often stymied by the need to solve partial differential equations. In this paper a new, fully constructive, procedure to shape the energy for a class of port-Hamiltonian systems that obviates the solution of partial differential equations is proposed. Proceeding from the well-known passive, power shaping output we propose a nonlinear static state-feedback that preserves passivity of this output but with a new storage function. This function contains some tuning gains used to ensure it is positive definite, hence a suitable Lyapunov function for the closed-loop. Connections with other standard passivity-based controllers are indicated and it is shown that the new controller design is applicable to two benchmark examples.
Starting Page	5713
Ending Page	5718
File Size	311530
Page Count	6
File Format	PDF
e-ISBN	9781479978861
DOI	10.1109/CDC.2015.7403116
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-12-15
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Lyapunov methods Mechanical systems Damping Partial differential equations Tuning Linear systems Jacobian matrices Hamiltonian systems Passivity nonlinear systems passivity-based control
Content Type	Text
Resource Type	Article

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