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

L. Borja R. Cisneros Roméo Ortega 1
1 Pôle Systèmes
L2S - Laboratoire des signaux et systèmes
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.
Type de document :
Communication dans un congrès
54th IEEE Conference on Decision and Control (CDC), Dec 2015, Osaka, Japan. 2015, Proceedings of the 54th IEEE Conference on Decision and Control. 〈10.1109/cdc.2015.7403116 〉
Liste complète des métadonnées

https://hal-centralesupelec.archives-ouvertes.fr/hal-01262402
Contributeur : Myriam Baverel <>
Soumis le : mardi 26 janvier 2016 - 16:30:49
Dernière modification le : jeudi 5 avril 2018 - 12:30:25

Identifiants

Citation

L. Borja, R. Cisneros, Roméo Ortega. Shaping the energy of port-Hamiltonian systems without solving PDE's . 54th IEEE Conference on Decision and Control (CDC), Dec 2015, Osaka, Japan. 2015, Proceedings of the 54th IEEE Conference on Decision and Control. 〈10.1109/cdc.2015.7403116 〉. 〈hal-01262402〉

Partager

Métriques

Consultations de la notice

270