Energy Shaping and Interconnection and Damping Assignment Control in the Bond Graph Domain
نویسنده
چکیده
This paper presents an interpretation in the Bond Graph domain of the Energy Shaping and Interconnection and Damping Assignment control methods, developed for the well-known Port-Controlled Hamiltonian Systems with Dissipation. In order to have a stable equilibrium at a prespecified state, the energy function is modified by adding storage elements to the BG such that the closedloop system energy has a minimum at that state. A new dissipation function is assigned changing the R-field and its interconnection with the rest of the Bond Graph. A desired power conserving interconnection structure is reached through the suitable insertion of power bonds among junctions. Energy shaping, interconnection and damping assignment are performed in a so called Target Bond Graph. The control law is determined by a set of partial differential equations derived from the plant and the Target Bond Graph.
منابع مشابه
Discussion on the paper “ Energy shaping of port - Hamiltonian systems by using alternate passive input - output pairs ” by A . Venkatraman and A . van der Schaft
The paper further elaborates on a passive output that was constructed in [3] with the purpose of providing an energy-balance (EB) interpretation for basic interconnection and damping assignment (BIDA [6, 7]). Such output has its roots in power shaping [4], an alternative method to stabilize nonlinear RLC circuits subjected to the dissipation obstacle [6]. It has been recently shown in [5] that ...
متن کاملDiscussion on: "Energy Shaping of Port-Hamiltonian Systems by Using Alternate Passive Input-Output Pairs"
The paper further elaborates on a passive output that was constructed in [3] with the purpose of providing an energybalance (EB) interpretation for basic interconnection and damping assignment (BIDA [6, 7]). Such output has its roots in power shaping [4], an alternative method to stabilize nonlinear RLC circuits subjected to the dissipation obstacle [6]. It has been recently shown in [5] that t...
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