Robust integral action of port-Hamiltonian systems

Authors

Joel Ferguson, Alejandro Donaire, Romeo Ortega, Richard H. Middleton

Abstract

Interconnection and damping assignment, passivity-based control (IDA-PBC) has proven to be a successful control technique for the stabilisation of many nonlinear systems. In this paper, we propose a method to robustify a system which has been stabilised using IDA-PBC with respect to constant, matched disturbances via the addition of integral action. The proposed controller extends previous work on the topic by being robust against uncertainty in the damping structure of the system, a quantity which may not be known in many applications.

Keywords

Disturbance rejection; Lagrangian and Hamiltonian systems; Robust control applications; Passivity-based control

Citation

• Journal: IFAC-PapersOnLine
• Year: 2018
• Volume: 51
• Issue: 3
• Pages: 181–186
• Publisher: Elsevier BV
• DOI: 10.1016/j.ifacol.2018.06.050
• Note: 6th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2018

BibTeX

@article{Ferguson_2018,
  title={{Robust integral action of port-Hamiltonian systems}},
  volume={51},
  ISSN={2405-8963},
  DOI={10.1016/j.ifacol.2018.06.050},
  number={3},
  journal={IFAC-PapersOnLine},
  publisher={Elsevier BV},
  author={Ferguson, Joel and Donaire, Alejandro and Ortega, Romeo and Middleton, Richard H.},
  year={2018},
  pages={181--186}
}

Download the bib file

References

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