Constructive interconnection and Damping Assignment for port-controlled Hamiltonian

Authors

K. Nunna, M. Sassano, A. Astolfi

Abstract

The Interconnection and Damping Assignment passivity-based control method for port-controlled Hamiltonian systems is discussed. We propose a novel construction which exploits the notion of algebraic solution of the so-called matching equation. The latter notion is instrumental in constructing an energy function defined on an extended state-space without involving the solution of any partial differential equation. This results, differently from the classical solution, in a dynamic state feedback that stabilizes a desired equilibrium point. Finally we show that, in the linear time-invariant case and under standard assumptions, the proposed methodology provides the standard passivity-based controller.

Citation

• Journal: 2013 American Control Conference
• Year: 2013
• Volume:
• Issue:
• Pages: 1810–1815
• Publisher: IEEE
• DOI: 10.1109/acc.2013.6580098

BibTeX

@inproceedings{Nunna_2013,
  title={{Constructive interconnection and Damping Assignment for port-controlled Hamiltonian}},
  DOI={10.1109/acc.2013.6580098},
  booktitle={{2013 American Control Conference}},
  publisher={IEEE},
  author={Nunna, K. and Sassano, M. and Astolfi, A.},
  year={2013},
  pages={1810--1815}
}

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References

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