Integral IDA-PBC and PID-like control for port-controlled Hamiltonian systems

Authors

Mutaz Ryalat, Dina Shona Laila, Mohamed M. Torbati

Abstract

Interconnection and damping assignment passivity based control (IDA-PBC) has gained increasing popularity. In this paper, we propose constructive results on integral IDA-PBC and PID-type controllers for a class of port-controlled Hamiltonian (PCH) systems. The results extend some existing methods and address a new framework that allows the implementation of integral action control to under-actuated PCH systems that are quite commonly found in practice. Application of the results to control a Quanser inertia wheel pendulum is provided.

Citation

• Journal: 2015 American Control Conference (ACC)
• Year: 2015
• Volume:
• Issue:
• Pages: 5365–5370
• Publisher: IEEE
• DOI: 10.1109/acc.2015.7172178

BibTeX

@inproceedings{Ryalat_2015,
  title={{Integral IDA-PBC and PID-like control for port-controlled Hamiltonian systems}},
  DOI={10.1109/acc.2015.7172178},
  booktitle={{2015 American Control Conference (ACC)}},
  publisher={IEEE},
  author={Ryalat, Mutaz and Laila, Dina Shona and Torbati, Mohamed M.},
  year={2015},
  pages={5365--5370}
}

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References

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