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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