Asymptotic stabilization via control by interconnection of port-Hamiltonian systems
نویسندگان
چکیده
Fernando Castaños , Romeo Ortega , Arjan van der Schaft and Alessandro Astolfi c aLaboratoire des Signaux et Systémes, Supelec Plateau du Moulon, 91192 Gif-sur-Yvette, France bDepartment of Mathematics, University of Groningen PO Box 800, 9700 AV Groningen, The Netherlands cElectrical Engineering Department, Imperial College London Exhibition Road, London. SW7 2BT, UK DISP, University of Roma, Tor Vergata Via del Politecnico 1, 00133 Rome, Italy
منابع مشابه
Feedback Stabilization of the Tora System via Interconnection and Damping Assignment Control
Abstract: In this work, we consider the feedback stabilization problem of the so-called Translational Oscillator with a Rotational Actuator (TORA) system by applying the Interconnection and Damping Assignment (IDA) control methodology. To achieve this goal, the mechanical system is firstly transformed into the general port controlled Hamiltonian form and, then, the IDA design procedure is appli...
متن کاملNetwork Modeling and Control of Physical Systems, DISC Theory of Port-Hamiltonian systems Chapter 2: Control of Port-Hamiltonian systems
Port-based network modeling of physical systems directly leads to their representation as portHamiltonian systems. Key feature of port-Hamiltonian systems is that the power-conserving interconnection of port-Hamiltonian systems results in another port-Hamiltonian system, with total state space the product of the state spaces of the components, total Hamiltonian being the sum of the Hamiltonian ...
متن کاملCEP course ”New Trends in Nonlinear Control”, IIT Bombay Theory of Port-Hamiltonian systems Chapter 2: Control of Port-Hamiltonian systems
Port-based network modeling of physical systems directly leads to their representation as portHamiltonian systems. Key feature of port-Hamiltonian systems is that the power-conserving interconnection of port-Hamiltonian systems results in another port-Hamiltonian system, with total state space the product of the state spaces of the components, total Hamiltonian being the sum of the Hamiltonian ...
متن کاملInterconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems
Passivity-based control (PBC) is a well-established technique that has shown to be very powerful to design robust controllers for physical systems described by Euler–Lagrange (EL) equations of motion. For regulation problems of mechanical systems, which can be stabilized “shaping” only the potential energy, PBC preserves the EL structure and furthermore assigns a closed-loop energy function equ...
متن کاملInstructions to Authors for the Preparation of Manuscripts
Abstract: In this work, we consider the feedback stabilization problem of the socalled Translational Oscillator with a Rotational Actuator (TORA) system by applying the Interconnection and Damping Assignment (IDA) control methodology. To achieve this goal, the mechanical system is firstly transformed into the general port controlled Hamiltonian form and, then, the IDA design procedure is applie...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید
ثبت ناماگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید
ورودعنوان ژورنال:
- Automatica
دوره 45 شماره
صفحات -
تاریخ انتشار 2009