Adaptive interconnection and damping assignment passivity‐based control for linearly parameterized discrete‐time port controlled Hamiltonian systems via I&I approach

2020 ◽  
Author(s):  
Mohammed Alkrunz ◽  
Yaprak Yalçın
Keyword(s):  
Hamiltonian Systems ◽  
Discrete Time ◽  
Passivity Based Control

scholarly journals Discrete-time modeling of Hamiltonian systems

2015 ◽  
Vol 23 ◽  
pp. 149-170 ◽  
Author(s):  
Yaprak YALÇIN ◽  
Leyla GÖREN SÜMER ◽  
Salman KURTULAN
Keyword(s):  
Hamiltonian Systems ◽  
Discrete Time ◽  
Time Modeling ◽  
Discrete Time Modeling

scholarly journals Discrete-time inverse optimal control for a reaction wheel pendulum: a passivity-based control approach

2020 ◽  
Vol 19 (4) ◽  
pp. 123-132 ◽  
Author(s):  
Oscar Danilo Montoya ◽  
Walter Gil-González ◽  
Federico Martin Serra
Keyword(s):  
Optimal Control ◽  
Discrete Time ◽  
Point Of View ◽  
Control Analysis ◽  
Inverse Optimal Control ◽  
Reaction Wheel ◽  
Control Approach ◽  
Control Functions ◽  
Passivity Based Control ◽  
The Time Domain

In this paper it is presented the design of a controller for a reaction wheel pendulum using a discrete-time representation via optimal control from the point of view of passivity-based control analysis. The main advantage of the proposed approach is that it allows to guarantee asymptotic stability convergence using a quadratic candidate Lyapunovfunction. Numerical simulations show that the proposed inverse optimal control design permits to reach superiornumerical performance reported by continuous approaches such as Lyapunov control functions and interconnection,and damping assignment passivity-based controllers. An additional advantageof the proposed inverse optimal controlmethod is its easy implementation since it does not employ additional states. It is only required a basic discretizationof the time-domain dynamical model based on the backward representation. All the simulations are carried out inMATLAB/OCTAVE software using a codification on the script environment.

Passivity Based Control of Stochastic Port-Hamiltonian Systems

2013 ◽  
Vol 58 (5) ◽  
pp. 1139-1153 ◽  
Author(s):  
Satoshi Satoh ◽  
Kenji Fujimoto
Keyword(s):  
Hamiltonian Systems ◽  
Passivity Based Control

scholarly journals Construction of discrete-time models for port-controlled Hamiltonian systems with applications

2006 ◽  
Vol 55 (8) ◽  
pp. 673-680 ◽  
Author(s):  
Dina Shona Laila ◽  
Alessandro Astolfi
Keyword(s):  
Hamiltonian Systems ◽  
Discrete Time ◽  
Discrete Time Models

scholarly journals Control by Interconnection and Standard Passivity-Based Control of Port-Hamiltonian Systems

2008 ◽  
Vol 53 (11) ◽  
pp. 2527-2542 ◽  
Author(s):  
Romeo Ortega ◽  
Arjan van der Schaft ◽  
Fernando Castanos ◽  
Alessandro Astolfi
Keyword(s):  
Hamiltonian Systems ◽  
Passivity Based Control

scholarly journals Proportional-Integral passivity-based control design of perturbed non-standard Hamiltonian systems

2021 ◽  
Vol 54 (19) ◽  
pp. 19-24
Author(s):  
Thanh Sang Nguyen ◽  
Ngoc Ha Hoang ◽  
Chee Keong Tan ◽  
Mohd Azlan Bin Hussain
Keyword(s):  
Hamiltonian Systems ◽  
Control Design ◽  
Proportional Integral ◽  
Passivity Based Control

"Robustifying passive closed-loop Port-Hamiltonian systems using Observer Based Control"

2018 ◽  
Author(s):  
Matías Nacusse ◽  
Alejandro Donaire ◽  
Sergio Junco
Keyword(s):  
Control Systems ◽  
Hamiltonian Systems ◽  
Closed Loop ◽  
Design Procedure ◽  
Ph Control ◽  
Bond Graph ◽  
Control Law ◽  
Second Stage ◽  
State Dependent ◽  
Passivity Based Control

"This paper contributes a passivity-based approach to obtain a control law that robustifies Port-Hamiltonian (pH) control systems under external and state-dependent disturbances using disturbance observers (DO). A twostage design procedure is used to define the Disturbance Observed Based Control (DOBC) scheme. In the first stage a passivity based control law, called Interconnection and Damping assignment (IDA-PBC) is designed in the Bond Graph (BG) domain via BG prototyping, using an undisturbed model of the physical system. This stage is not the main issue of this paper and therefore the IDA-PBC law will be assumed to be known. The second stage, the main result of this paper, consists in the design of the DO and its integration with the IDA-PBC control law. The DO is derived in the BG domain via the integration of the residual signal computed from a Diagnostic Bond Graph (DBG). The methodology is developed through examples in the BG domain and formalized and extended in the pH framework."

Gradient Based Discrete-Time Modeling and Control of Hamiltonian Systems

2008 ◽  
Vol 41 (2) ◽  
pp. 212-217 ◽  
Author(s):  
Leyla Gören-Sümer ◽  
Yaprak Yalçιn
Keyword(s):  
Hamiltonian Systems ◽  
Discrete Time ◽  
Modeling And Control ◽  
Time Modeling ◽  
Gradient Based ◽  
And Control ◽  
Discrete Time Modeling
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