IDA-PBC under sampling for port-controlled hamiltonian systems
Authors
F Tiefensee, S Monaco, D Normand-Cyrot
Abstract
Taking in mind that the lost of the passivity property under sampling reflects into the degradation of the stabilizing performances of emulated controllers, this paper is a first attempt to the sampled-data version of the interconnection and damping assignment-passivity based controllers (IDA-PBC). A sampled-data controller, preserving asymptotically the energetic behavior of a target dynamics and achieving stabilization to a suitable equilibrium is described for Hamiltonian dynamics. A mechanical case study illustrates the results in a comparative perspective.
Citation
- Journal: Proceedings of the 2010 American Control Conference
- Year: 2010
- Volume:
- Issue:
- Pages: 1811–1816
- Publisher: IEEE
- DOI: 10.1109/acc.2010.5531444
BibTeX
@inproceedings{Tiefensee_2010,
title={{IDA-PBC under sampling for port-controlled hamiltonian systems}},
DOI={10.1109/acc.2010.5531444},
booktitle={{Proceedings of the 2010 American Control Conference}},
publisher={IEEE},
author={Tiefensee, F and Monaco, S and Normand-Cyrot, D},
year={2010},
pages={1811--1816}
}