Robust IDA-PBC and PID-like control for port-controlled Hamiltonian systems
Robust IDA-PBC and PID-like control for port-controlled Hamiltonian systems
Interconnection and damping assignment passivity based control (IDA-PBC) is a method that has been developed to (asymptotically) stabilize nonlinear systems formulated in portcontrolled Hamiltonian (PCH) structure. This method has gained increasing popularity and has been successfully applied to a wide range of dynamical systems. However, little is known about the robustness of this method in response to the effects of uncertainty which could result from disturbances, noises, and modeling errors. This paper explores the possibility of extending the IDAPBC method by adopting a robustness perspective, with the aim of maintaining (asymptotic) stability of the system in the presence of such perturbations which exist in any realistic problem. We propose constructive results on Robust IDA-PBC and PID-like controllers for a class of PCH systems. The results extend some existing methods and provide a new framework that allows the implementation of integral action control to underactuated PCH systems that are quite commonly found in practice. The results are applied to a Quanser inertia wheel pendulum and illustrated through numerical simulations
Ryalat, Mutaz
0e91b18b-092b-44b1-a903-57c62f0db638
Laila, Dina Shona
41aa5cf9-3ec2-4fdf-970d-a0a349bfd90c
Moshrefi-torbati, Mohamed
65b351dc-7c2e-4a9a-83a4-df797973913b
2015
Ryalat, Mutaz
0e91b18b-092b-44b1-a903-57c62f0db638
Laila, Dina Shona
41aa5cf9-3ec2-4fdf-970d-a0a349bfd90c
Moshrefi-torbati, Mohamed
65b351dc-7c2e-4a9a-83a4-df797973913b
Ryalat, Mutaz, Laila, Dina Shona and Moshrefi-torbati, Mohamed
(2015)
Robust IDA-PBC and PID-like control for port-controlled Hamiltonian systems.
In 2015 American Control Conference (ACC).
IEEE.
15 pp
.
(doi:10.1109/ACC.2015.7172178).
Record type:
Conference or Workshop Item
(Paper)
Abstract
Interconnection and damping assignment passivity based control (IDA-PBC) is a method that has been developed to (asymptotically) stabilize nonlinear systems formulated in portcontrolled Hamiltonian (PCH) structure. This method has gained increasing popularity and has been successfully applied to a wide range of dynamical systems. However, little is known about the robustness of this method in response to the effects of uncertainty which could result from disturbances, noises, and modeling errors. This paper explores the possibility of extending the IDAPBC method by adopting a robustness perspective, with the aim of maintaining (asymptotic) stability of the system in the presence of such perturbations which exist in any realistic problem. We propose constructive results on Robust IDA-PBC and PID-like controllers for a class of PCH systems. The results extend some existing methods and provide a new framework that allows the implementation of integral action control to underactuated PCH systems that are quite commonly found in practice. The results are applied to a Quanser inertia wheel pendulum and illustrated through numerical simulations
Text
robust_IDA_revised01_2c_140815.pdf
- Author's Original
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Accepted/In Press date: 31 January 2015
Published date: 2015
Organisations:
Mechatronics
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Local EPrints ID: 382358
URI: http://eprints.soton.ac.uk/id/eprint/382358
PURE UUID: 15caba2b-7119-4f27-9002-2d9ad3d5bbf1
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Date deposited: 29 Oct 2015 11:26
Last modified: 16 Mar 2024 02:06
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Author:
Mutaz Ryalat
Author:
Dina Shona Laila
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