Robust Hamiltonian passive control for higher relative degree outpus
We present an improvement of the well-know Interconnection and Damping Assignment-Passivity-based Control (IDA-PBC) technique. The IDA-PBC method is based on the Port –controlled Hamiltonian Systems description and requires the knowledge of the full energy (or Hamiltonian) function. This is a proble...
| Autores: | , , |
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| Tipo de recurso: | informe técnico |
| Fecha de publicación: | 2006 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/482 |
| Acceso en línea: | https://hdl.handle.net/2117/482 |
| Access Level: | acceso abierto |
| Palabra clave: | Robust control Sistemes hamiltonians Control basat en passivitat Control robust Port Hamiltonian systems Passivity-based control Sistemas hamiltonianos Contro basado en pasividad IDA-PBC Àrees temàtiques de la UPC::Informàtica::Automàtica i control |
| Sumario: | We present an improvement of the well-know Interconnection and Damping Assignment-Passivity-based Control (IDA-PBC) technique. The IDA-PBC method is based on the Port –controlled Hamiltonian Systems description and requires the knowledge of the full energy (or Hamiltonian) function. This is a problem because, in general, the equilibrium point which is to be regulated depends on uncertain parameters. In this paper, we show how select the target port-Hamiltonian structure so that this dependence is reduced. This new approach allows to improve the robustness for higher relative degree outputs, and, for illustration purposes, is applied to a simple academic nonlinear system |
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