Authors

W.M. Haddad, V. Chellaboina, null Qing Hui, S.G. Nersesov

Abstract

A novel class of fixed-order, energy-based hybrid controllers is proposed as a means for achieving enhanced energy dissipation in Euler-Lagrange, port-controlled Hamiltonian, and lossless dynamical systems. These dynamic controllers combine a logical switching architecture with continuous dynamics to guarantee that the system plant energy is strictly decreasing across switchings. The general framework leads to closed-loop systems described by impulsive differential equations. In addition, we construct hybrid dynamic controllers that guarantee that the closed-loop system is consistent with basic thermodynamic principles. In particular, the existence of an entropy function for the closed-loop system is established that satisfies a hybrid Clausius-type inequality. Special cases of energy-based hybrid controllers involving state-dependent switching are described.

Citation

  • Journal: Proceedings of the 44th IEEE Conference on Decision and Control
  • Year: 2006
  • Volume:
  • Issue:
  • Pages: 4879–4884
  • Publisher: IEEE
  • DOI: 10.1109/cdc.2005.1582934

BibTeX

@inproceedings{Haddad,
  title={{Thermodynamic Stabilization via Energy Dissipating Hybrid Controllers}},
  DOI={10.1109/cdc.2005.1582934},
  booktitle={{Proceedings of the 44th IEEE Conference on Decision and Control}},
  publisher={IEEE},
  author={Haddad, W.M. and Chellaboina, V. and Qing Hui and Nersesov, S.G.},
  pages={4879--4884}
}

Download the bib file

References

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  • Haddad, W. M., Qing Hui, Nersesov, S. G. & Chellaboina, V. Thermodynamic modeling, energy equipartition, and nonconservation of entropy for discrete-time dynamical systems. Proceedings of the 2005, American Control Conference, 2005. 4832–4837 doi:10.1109/acc.2005.1470760 – 10.1109/acc.2005.1470760