Energy-based control for hybrid port-controlled Hamiltonian systems

Authors

W.M. Haddad, S.G. Nersesov, V. Chellaboina

Abstract

In this paper we develop an energy-based hybrid control framework for hybrid port-controlled Hamiltonian systems. In particular, we obtain constructive sufficient conditions for hybrid feedback stabilization that provide a shaped energy function for the closed-loop system while preserving a hybrid Hamiltonian structure at the closed-loop level. Furthermore, an inverse optimal hybrid feedback control framework is developed that characterizes a class of globally stabilizing energy-based controllers that guarantee hybrid sector and gain margins to multiplicative input uncertainty of hybrid Hamiltonian systems.

Citation

• Journal: Proceedings of the 41st IEEE Conference on Decision and Control, 2002.
• Year: 2003
• Volume: 2
• Issue:
• Pages: 1669–1674
• Publisher: IEEE
• DOI: 10.1109/cdc.2002.1184760

BibTeX

@inproceedings{Haddad,
  series={CDC-02},
  title={{Energy-based control for hybrid port-controlled Hamiltonian systems}},
  volume={2},
  DOI={10.1109/cdc.2002.1184760},
  booktitle={{Proceedings of the 41st IEEE Conference on Decision and Control, 2002.}},
  publisher={IEEE},
  author={Haddad, W.M. and Nersesov, S.G. and Chellaboina, V.},
  pages={1669--1674},
  collection={CDC-02}
}

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References

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