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 a position control systems are included to show possible applications.

Keywords

Memristor; passivity-based control; port-Hamiltonian systems

Citation

• Journal: IFAC Proceedings Volumes
• Year: 2012
• Volume: 45
• Issue: 19
• Pages: 167–172
• Publisher: Elsevier BV
• DOI: 10.3182/20120829-3-it-4022.00047
• Note: 4th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control

BibTeX

@article{D_ria_Cerezo_2012,
  title={{Memristive port-Hamiltonian control: path-dependent damping injection in control of mechanical systems}},
  volume={45},
  ISSN={1474-6670},
  DOI={10.3182/20120829-3-it-4022.00047},
  number={19},
  journal={IFAC Proceedings Volumes},
  publisher={Elsevier BV},
  author={Dòria-Cerezo, A. and van der Heijden, L. and Scherpen, J.M.A.},
  year={2012},
  pages={167--172}
}

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