Multistable Energy Shaping of Passive Linear Systems with Hybrid Mode Selector

Authors

Stefano Massaroli, Federico Califano, Angela Faragasso, Atsushi Yamashita, Hajime Asama

Abstract

This paper presents a novel control strategy for stable linear time–invariant systems operating with a finite number of set points. Inspired by the theory of passivity-based control, the proposed method aims at simultaneously and asymptotically stabilize all the desired working modes by means of a static nonlinear state feedback law. An asynchronous external signal is then employed to trigger a hybrid controller in order to switch between the different working modes. The proposed approach is validated by means of simulations performed on the ubiquitous mass-spring-damper system.

Keywords

linear systems; nonlinear control; port–Hamiltonian systems; hybrid systems; multistability; passivity–based control

Citation

• Journal: IFAC-PapersOnLine
• Year: 2020
• Volume: 53
• Issue: 2
• Pages: 9118–9124
• Publisher: Elsevier BV
• DOI: 10.1016/j.ifacol.2020.12.2151
• Note: 21st IFAC World Congress- Berlin, Germany, 11–17 July 2020

BibTeX

@article{Massaroli_2020,
  title={{Multistable Energy Shaping of Passive Linear Systems with Hybrid Mode Selector}},
  volume={53},
  ISSN={2405-8963},
  DOI={10.1016/j.ifacol.2020.12.2151},
  number={2},
  journal={IFAC-PapersOnLine},
  publisher={Elsevier BV},
  author={Massaroli, Stefano and Califano, Federico and Faragasso, Angela and Yamashita, Atsushi and Asama, Hajime},
  year={2020},
  pages={9118--9124}
}

Download the bib file

References

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