Reset control for injecting dissipation into port-hamiltonian systems

Authors

Cesáreo Raimúndez, Antonio Barreiro, Alejandro Fernández

Abstract

This paper focuses on the use of reset control as an alternative way of obtaining dissipation for a class of port-Hamiltonian systems. One advantage of this approach is the simplicity of its implementation, since it requires only a velocity observer. Another advantage is its robustness, as it can be calculated independently of the plant structure. A gantry crane is selected as case study, yielding simulation and experimental results that show the good performance of this method.

Citation

• Journal: 2009 European Control Conference (ECC)
• Year: 2009
• Volume:
• Issue:
• Pages: 4919–4924
• Publisher: IEEE
• DOI: 10.23919/ecc.2009.7075179

BibTeX

@inproceedings{Raim_ndez_2009,
  title={{Reset control for injecting dissipation into port-hamiltonian systems}},
  DOI={10.23919/ecc.2009.7075179},
  booktitle={{2009 European Control Conference (ECC)}},
  publisher={IEEE},
  author={Raimúndez, Cesáreo and Barreiro, Antonio and Fernández, Alejandro},
  year={2009},
  pages={4919--4924}
}

Download the bib file

References

• fernández, Reset control for passive teleoperation. Proc IEEE Ind Electron Conference (IECON) (2008)
• zheng, Improved reset control design for a PZT positioning stage. 16th Int Conf on Control Applications (2007)
• clegg, A nonlinear integrator for servomechnisms. Transactions A I E E m Part II (1958)
• van der schaft, L2-Gain and Passivity Techniques in Nonlinear Control. Revised and Enlarged Edition (2000)
• HOROWITZ, I. & ROSENBAUM†, P. Non-linear design for cost of feedback reduction in systems with large parameter uncertainty †. International Journal of Control 21, 977–1001 (1975) – 10.1080/00207177508922051
• guo, Stability analysis, design and application of reset control. 2007 Int Conf on Control and Automation (2007)
• neši?, Stability properties of reset systems. Proc of 16th IFAC World Congress (2005)
• carrasco, A passivity approach to reset control on nonlinear systems. Proc IEEE Ind Electron Conference (IECON) (2008)
• Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica 38, 585–596 (2002) – 10.1016/s0005-1098(01)00278-3
• – 10.1002/(sici)1099-1239(19980415/30)8:4/5<435::aid-rnc355>3.0.co;2-4
• ortega, Energy-Shaping of Port-Controlled Hamiltonian Systems by Inter-connection. Proc of the 38th Conference on Decision & Control (1999)
• Aghannan, N. & Rouchon, P. An intrinsic observer for a class of lagrangian systems. IEEE Trans. Automat. Contr. 48, 936–945 (2003) – 10.1109/tac.2003.812778
• aangenent, An LMI-based £2 gain performance analysis for reset control systems. American Control Conference ACC (2008)
• haddad, Impulsive and Hybrid Dynamical Systems - Stability, Dissipativity and Control. Princeton Series in Applied Mathematics (2006)
• Haddad, W. M., Nersesov, S. G. & Chellaboina, V. Energy-based control for hybrid port-controlled Hamiltonian systems. Automatica 39, 1425–1435 (2003) – 10.1016/s0005-1098(03)00113-4
• nersesov, Nonlinear Impulsive and Hybrid Dynamical Systems. (2005)
• KRISHNAN, K. R. & HOROWITZ, I. M. Synthesis of a non-linear feedback system with significant plant-ignorance for prescribed system tolerances†. International Journal of Control 19, 689–706 (1974) – 10.1080/00207177408932666
• Beker, O., Hollot, C. V., Chait, Y. & Han, H. Fundamental properties of reset control systems. Automatica 40, 905–915 (2004) – 10.1016/j.automatica.2004.01.004
• beker, Analysis of Reset Control Systems (2001)
• Bupp, R. T., Bernstein, D. S., Chellaboina, V. S. & Haddad, W. M. Resetting Virtual Absorbers for Vibration Control. Journal of Vibration and Control 6, 61–83 (2000) – 10.1177/107754630000600104
• Banos, A. & Barreiro, A. Delay-Independent Stability of Reset Systems. IEEE Trans. Automat. Contr. 54, 341–346 (2009) – 10.1109/tac.2008.2007865
• Åström, K. J. Limitations on Control System Performance. European Journal of Control 6, 2–20 (2000) – 10.1016/s0947-3580(00)70906-x
• baños, Reset-times dependent stability of reset control with unstable base systems. Proc IEEE Int Symp on Ind Electron (ISIE) (2007)
• baños, Delay-dependent stability of reset control systems. Proceedings of the American control conference ACC (2007)