Dynamic Interconnection and Damping Assignment

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 new definition of algebraic solution of the so-called matching equation. This notion is instrumental for the construction of an energy function on an extended state-space, which does not rely on the solution of any partial differential equation. We provide sufficient conditions that allow to preserve the port-Hamiltonian structure in the extended closed-loop system. The theory is validated on an electrostatic microactuator by assigning an interconnection and damping structure that cannot be imposed with the standard approach.

Citation

• Journal: 53rd IEEE Conference on Decision and Control
• Year: 2014
• Volume:
• Issue:
• Pages: 1563–1568
• Publisher: IEEE
• DOI: 10.1109/cdc.2014.7039622

BibTeX

@inproceedings{Nunna_2014,
  title={{Dynamic Interconnection and Damping Assignment}},
  DOI={10.1109/cdc.2014.7039622},
  booktitle={{53rd IEEE Conference on Decision and Control}},
  publisher={IEEE},
  author={Nunna, K. and Sassano, M. and Astolfi, A.},
  year={2014},
  pages={1563--1568}
}

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References

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