Control by interconnection and standard passivity-based control of port-hamiltonian systems
Por:
Ortega R., van der Schaft A., Castaños F., Astolfi A.
Publicada:
1 ene 2008
Resumen:
The dynamics of many physical processes can be suitably described by Port-Hamiltonian (PH) models, where the importance of the energy function, the interconnection pattern and the dissipation of the system is underscored. To regulate the behavior of PH systems it is natural to adopt a Passivity-Based Control (PBC) perspective, where the control objectives are achieved shaping the energy function and adding dissipation. In this paper we consider the PBC techniques of Control by Interconnection (CbI) and Standard PBC. In CbI the controller is another PH system connected to the plant (through a power-preserving interconnection) to add up their energy functions, while in Standard PBC energy shaping is achieved via static state feedback. In spite of the conceptual appeal of formulating the control problem as the interaction of dynamical systems, the current version of CbI imposes a severe restriction on the plant dissipation structure that stymies its practical application. On the other hand, Standard PBC, which is usually derived from a uninspiring and non-intuitive "passive output generation" viewpoint, is one of the most successful controller design techniques. The main objectives of this paper are: (1) To extend the CbI method to make it more widely applicable-in particular, to overcome the aforementioned dissipation obstacle. (2) To show that various popular variants of Standard PBC can be derived proceeding from a unified perspective. (3) To establish the connections between CbI and Standard PBC proving that the latter is obtained restricting the former to a suitable subset-providing a nice geometric interpretation to Standard PBC-and comparing the size of the set of PH plants for which they are applicable. © 2008 IEEE.
Filiaciones:
Ortega R.:
Laboratoire des Signaux et Systémes, École Supérieure dElectricité (SUPELEC), Gif-sur-Yvette 91192, France
van der Schaft A.:
Department of Mathematics, University of Groningen, Groningen 9700 AV, Netherlands
Castaños F.:
Laboratoire des Signaux et Systémes, École Supérieure dElectricité (SUPELEC), Gif-sur-Yvette 91192, France
Astolfi A.:
Electrical Engineering Department, Imperial College London, London SW7 2BT, United Kingdom
Department of Informatica, Sistemi e Produzione (DISP), University of Roma, Rome 00133, Italy
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