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Robust Hamiltonian passive control for higher relative degree outpus
Batlle Arnau, Carles; Dòria Cerezo, Arnau; Fossas Colet, Enric
Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials; Universitat Politècnica de Catalunya. ACES - Control Avançat de Sistemes d'Energia
We present an improvement of the well-know Interconnection and Damping Assignment-Passivity-based Control (IDA-PBC) technique. The IDA-PBC method is based on the Port –controlled Hamiltonian Systems description and requires the knowledge of the full energy (or Hamiltonian) function. This is a problem because, in general, the equilibrium point which is to be regulated depends on uncertain parameters. In this paper, we show how select the target port-Hamiltonian structure so that this dependence is reduced. This new approach allows to improve the robustness for higher relative degree outputs, and, for illustration purposes, is applied to a simple academic nonlinear system
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
Robust control
Sistemes hamiltonians
Control basat en passivitat
Control robust
Port Hamiltonian systems
Passivity-based control
Robust control
Sistemas hamiltonianos
Contro basado en pasividad
Robust control
IDA-PBC
Control robust
Attribution-NonCommercial-NoDerivs 2.5 Spain
http://creativecommons.org/licenses/by-nc-nd/2.5/es/
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