On Passivity-Based High-Order Compensators for Mechanical Port-Hamiltonian Systems Without Velocity Measurements

Authors

Kiyoshi Hamada, Pablo Borja, Kenji Fujimoto, Ichiro Maruta, Jacquelien M.A. Scherpen

Abstract

In this work, we propose passivity-based control techniques, where the resulting controllers include the entire class of dynamic output feedback controllers that preserve the port-Hamiltonian structure. The proposed methodology considers a dynamic output feedback controller such that the linearized relationship between the control inputs and the outputs of interest can be interpreted as a high-order compensator. Accordingly, the controllers are studied in the framework of the transfer functions, and the control gains can be tuned through a frequency analysis approach while ensuring the stability of the closed-loop system. Additionally, the controllers have the advantage that they do not require velocity measurements. We illustrate the applicability of the proposed methodology through a numerical example.

Keywords

Control of Nonlinear Systems; Control with Limited Information

Citation

• Journal: IFAC-PapersOnLine
• Year: 2021
• Volume: 54
• Issue: 14
• Pages: 287–292
• Publisher: Elsevier BV
• DOI: 10.1016/j.ifacol.2021.10.367
• Note: 3rd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems MICNON 2021- Tokyo, Japan, 15-17 September 2021

BibTeX

@article{Hamada_2021,
  title={{On Passivity-Based High-Order Compensators for Mechanical Port-Hamiltonian Systems Without Velocity Measurements}},
  volume={54},
  ISSN={2405-8963},
  DOI={10.1016/j.ifacol.2021.10.367},
  number={14},
  journal={IFAC-PapersOnLine},
  publisher={Elsevier BV},
  author={Hamada, Kiyoshi and Borja, Pablo and Fujimoto, Kenji and Maruta, Ichiro and Scherpen, Jacquelien M.A.},
  year={2021},
  pages={287--292}
}

Download the bib file

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