Towards a constructive interconnection and damping assignment stabilization methodology

Meng Zhang; Romeo Ortega; Zhitao Liu; Hongye Su; Jianping Cai

doi:10.1109/CDC.2016.7799255

Towards a constructive interconnection and damping assignment stabilization methodology

Meng Zhang
, Romeo Ortega
, Zhitao Liu
, Hongye Su
, Jianping Cai

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

Interconnection and damping assignment passivity-based control (IDA-PBC) relies on the solution of a partial differential equation (PDE) that identifies the assignable storage function [10] [12], thus the difficulties in solving the PDE are usually the main stumbling block that hampers the application of IDA-PBC. The main objective of this paper is to propose a new IDA-PBC to simplify the solution of the PDE, in particular, we extend this method in the following directions. Firstly, we allow the desired interconnection and damping matrices to depend on the control signal, giving the possibility to simplify the PDE to ensure its solvability. Secondly, the PDE directly generates the control signal that has, in general, a simpler expression. Thirdly, it is applicable for general nonlinear systems possibly not affine in the control. The methodology is validated with two illustrative examples.

Original language	English
Title of host publication	2016 IEEE 55th Conference on Decision and Control, CDC 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	6410-6415
Number of pages	6
ISBN (Electronic)	9781509018376
DOIs	https://doi.org/10.1109/CDC.2016.7799255
State	Published - 27 Dec 2016
Externally published	Yes
Event	55th IEEE Conference on Decision and Control, CDC 2016 - Las Vegas, United States Duration: 12 Dec 2016 → 14 Dec 2016

Publication series

Name	2016 IEEE 55th Conference on Decision and Control, CDC 2016

Conference

Conference	55th IEEE Conference on Decision and Control, CDC 2016
Country/Territory	United States
City	Las Vegas
Period	12/12/16 → 14/12/16

Keywords

interconnection and damping assignment
nonlinear systems
passivity-based control

Access to Document

10.1109/CDC.2016.7799255

Cite this

Zhang, M., Ortega, R., Liu, Z., Su, H., & Cai, J. (2016). Towards a constructive interconnection and damping assignment stabilization methodology. In 2016 IEEE 55th Conference on Decision and Control, CDC 2016 (pp. 6410-6415). Article 7799255 (2016 IEEE 55th Conference on Decision and Control, CDC 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2016.7799255

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abstract = "Interconnection and damping assignment passivity-based control (IDA-PBC) relies on the solution of a partial differential equation (PDE) that identifies the assignable storage function [10] [12], thus the difficulties in solving the PDE are usually the main stumbling block that hampers the application of IDA-PBC. The main objective of this paper is to propose a new IDA-PBC to simplify the solution of the PDE, in particular, we extend this method in the following directions. Firstly, we allow the desired interconnection and damping matrices to depend on the control signal, giving the possibility to simplify the PDE to ensure its solvability. Secondly, the PDE directly generates the control signal that has, in general, a simpler expression. Thirdly, it is applicable for general nonlinear systems possibly not affine in the control. The methodology is validated with two illustrative examples.",

keywords = "interconnection and damping assignment, nonlinear systems, passivity-based control",

author = "Meng Zhang and Romeo Ortega and Zhitao Liu and Hongye Su and Jianping Cai",

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Zhang, M, Ortega, R, Liu, Z, Su, H & Cai, J 2016, Towards a constructive interconnection and damping assignment stabilization methodology. in 2016 IEEE 55th Conference on Decision and Control, CDC 2016., 7799255, 2016 IEEE 55th Conference on Decision and Control, CDC 2016, Institute of Electrical and Electronics Engineers Inc., pp. 6410-6415, 55th IEEE Conference on Decision and Control, CDC 2016, Las Vegas, United States, 12/12/16. https://doi.org/10.1109/CDC.2016.7799255

Towards a constructive interconnection and damping assignment stabilization methodology. / Zhang, Meng; Ortega, Romeo; Liu, Zhitao et al.
2016 IEEE 55th Conference on Decision and Control, CDC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 6410-6415 7799255 (2016 IEEE 55th Conference on Decision and Control, CDC 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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PY - 2016/12/27

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Towards a constructive interconnection and damping assignment stabilization methodology

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