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Improving the robustness of Hamiltonian passive control
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
Interconnection and damping assignment passivity based control (IDA-PBC) is a well know technique for port Hamiltonian dissipative systems (PHDS). In this paper we point out the kind of problems that can appear in the closed-loop structure obtained by IDA-PBC methods for relative degree one outputs, when nominal values are used in a system with uncertain parameters. In particular, we show that, in general, the positive semidefiniteness of dissipation matrix breaks down, at least, in a neighborhood of the desired regulation point, preventing thus the use of LaSalle’s theorem. Nevertheless, we present an example where the closed-loop system regulates to a fixed point, albeit different from the desired one. To correct this, we introduce an integral control, which can be cast into Hamiltonian framework. Numerical simulations for our example show that the closed-loop system regulates to the desired point, although a rich dynamical behaviour is obtained when the feedback parameters are varied.
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
Robust control
Passivity-based control
Port Hamiltonian control
Passivity-based control
Robust control
Sistemes Hamiltonians amb port
Control bassat en passivitat
Control robust
Sistemas Hamiltonianos con puertos
Control basado en pasividad
Control robusto
Control automàtic - informes tècnics
Attribution-NonCommercial-NoDerivs 2.5 Spain
http://creativecommons.org/licenses/by-nc-nd/2.5/es/
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