New Results on Stabilization of Port-Hamiltonian Systems via PID Passivity-Based Control
Authors
Pablo Borja, Romeo Ortega, Jacquelien M. A. Scherpen
Abstract
In this article, we present some new results for the design of PID passivity-based controllers (PBCs) for the regulation of port-Hamiltonian (pH) systems. The main contributions of this article are: (i) new algebraic conditions for the explicit solution of the partial differential equation required in this design; (ii) revealing the deleterious impact of the dissipation obstacle that limits the application of the standard PID-PBC to systems without pervasive dissipation; (iii) the proposal of a new PID-PBC which is generated by two passive outputs, one with relative degree zero and the other with relative degree one. The first output ensures that the PID-PBC is not hindered by the dissipation obstacle, while the relative degree of the second passive output allows the inclusion of a derivative term. Making the procedure more constructive and removing the requirement on the dissipation significantly extends the realm of application of PID-PBC. Moreover, allowing the possibility of adding a derivative term to the control, enhances its transient performance.
Citation
- Journal: IEEE Transactions on Automatic Control
- Year: 2021
- Volume: 66
- Issue: 2
- Pages: 625–636
- Publisher: Institute of Electrical and Electronics Engineers (IEEE)
- DOI: 10.1109/tac.2020.2986731
BibTeX
@article{Borja_2021,
title={{New Results on Stabilization of Port-Hamiltonian Systems via PID Passivity-Based Control}},
volume={66},
ISSN={2334-3303},
DOI={10.1109/tac.2020.2986731},
number={2},
journal={IEEE Transactions on Automatic Control},
publisher={Institute of Electrical and Electronics Engineers (IEEE)},
author={Borja, Pablo and Ortega, Romeo and Scherpen, Jacquelien M. A.},
year={2021},
pages={625--636}
}
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