Memristive port-Hamiltonian control: Path-dependent damping injection in control of mechanical systems

Authors

A. Dòria-Cerezo, L. van der Heijden, J.M.A. Scherpen

Abstract

This paper presents the use of the memristor as a new element for designing passivity-based controllers. From the port-Hamiltonian description of the electrical circuits with memristors, a target dynamics is assigned to the matching equation proposed by the methodology known as Interconnection and Damping Assignment-Passivity-Based Control. The inclusion of the memristor element extends the closed-loop dynamics and it results in an extra term in the control algorithm that can be seen as a state-modulated gain. Two mechanical examples, in the form of position control systems, are included to show possible applications.

Keywords

Memristor; Passivity-based control; Port-Hamiltonian systems

Citation

• Journal: European Journal of Control
• Year: 2013
• Volume: 19
• Issue: 6
• Pages: 454–460
• Publisher: Elsevier BV
• DOI: 10.1016/j.ejcon.2013.09.006
• Note: Lagrangian and Hamiltonian Methods for Modelling and Control

BibTeX

@article{D_ria_Cerezo_2013,
  title={{Memristive port-Hamiltonian control: Path-dependent damping injection in control of mechanical systems}},
  volume={19},
  ISSN={0947-3580},
  DOI={10.1016/j.ejcon.2013.09.006},
  number={6},
  journal={European Journal of Control},
  publisher={Elsevier BV},
  author={Dòria-Cerezo, A. and van der Heijden, L. and Scherpen, J.M.A.},
  year={2013},
  pages={454--460}
}

Download the bib file

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