Symplectic discrete-time Krasovskii passivity-based control for output consensus

Authors

Yu Kawano, Alessio Moreschini, Michele Cucuzzella

Abstract

In this paper, we design a sampled-data distributed output feedback controller to achieve output consensus for linear continuous-time port-Hamiltonian systems in presence of unknown disturbances. The key idea is borrowed from Krasovskii passivity-based output consensus control for continuous-time dynamics. To conceptualise this rationale to sampled control systems, we deal with a discrete-time system arising from a symplectic discretization of a continuous-time linear port-Hamiltonian system, such as the implicit midpoint method. As a preliminary step, we introduce the concept of Krasovskii passivity for discrete-time systems and further show that a discretized linear port-Hamiltonian system is Krasovskii passive in the discrete-time sense. Then, based on the discrete-time version of Krasovskii passivity, we develop a sampled-data output feedback controller to achieve output consensus. The proposed sampled-data controller can be understood as a symplectic discretization of the continuous-time output consensus controller. Finally, we illustrate the effectiveness of the main result by achieving current sharing in a DC power network.

Keywords

Sampled-data control; port-Hamiltonian systems; passivity; output consensus

Citation

• Journal: IFAC-PapersOnLine
• Year: 2023
• Volume: 56
• Issue: 2
• Pages: 8562–8567
• Publisher: Elsevier BV
• DOI: 10.1016/j.ifacol.2023.10.017
• Note: 22nd IFAC World Congress- Yokohama, Japan, July 9-14, 2023

BibTeX

@article{Kawano_2023,
  title={{Symplectic discrete-time Krasovskii passivity-based control for output consensus*}},
  volume={56},
  ISSN={2405-8963},
  DOI={10.1016/j.ifacol.2023.10.017},
  number={2},
  journal={IFAC-PapersOnLine},
  publisher={Elsevier BV},
  author={Kawano, Yu and Moreschini, Alessio and Cucuzzella, Michele},
  year={2023},
  pages={8562--8567}
}

Download the bib file

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