Stabilization of Physical Systems via Saturated Controllers With Partial State Measurements

Authors

Pablo Borja, Carmen Chan-Zheng, Jacquelien M. A. Scherpen

Abstract

This article provides a constructive passivity-based control (PBC) approach to solve the set-point regulation problem for input-affine continuous nonlinear systems while considering bounded inputs. As customary in PBC, the methodology consists of two steps: energy shaping and damping injection. In terms of applicability, the proposed controllers have two advantages concerning other PBC techniques: 1) the energy shaping is carried out without solving partial differential equations and 2) the damping injection is performed without measuring the passive output. As a result, the proposed methodology is suitable to control a broad range of physical systems, e.g., mechanical, electrical, and electromechanical systems, with saturated control signals. We illustrate the applicability of the technique by designing controllers for systems in different physical domains, where we validate the analytical results via simulations and experiments.

Citation

Journal: IEEE Transactions on Control Systems Technology
Year: 2023
Volume: 31
Issue: 6
Pages: 2405–2419
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/tcst.2023.3259243

BibTeX

@article{Borja_2023,
  title={{Stabilization of Physical Systems via Saturated Controllers With Partial State Measurements}},
  volume={31},
  ISSN={2374-0159},
  DOI={10.1109/tcst.2023.3259243},
  number={6},
  journal={IEEE Transactions on Control Systems Technology},
  publisher={Institute of Electrical and Electronics Engineers (IEEE)},
  author={Borja, Pablo and Chan-Zheng, Carmen and Scherpen, Jacquelien M. A.},
  year={2023},
  pages={2405--2419}
}

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References

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