جهت دسترسی به کاربرگه ی زیر، از این لینک استفاده کنید. http://dl.pgu.ac.ir/handle/Hannan/81686
Title: Constructive interconnection and damping assignment for port-controlled Hamiltonian systems
Keywords: Science & Technology;Technology;Automation & Control Systems;Engineering, Electrical & Electronic;Engineering;Interconnection and damping assignment passivity-based control (IDA-PBC);PASSIVITY-BASED CONTROL;MECHANICAL SYSTEMS;CONTROLLED LAGRANGIANS;LYAPUNOV FUNCTIONS;STABILIZATION;DISSIPATION;Industrial Engineering & Automation; Electrical And Electronic Engineering;0102 Applied Mathematics; Mechanical Engineering
Issue Date: 30-Jan-2017
9-Feb-2015
1-Feb-2015
Publisher: Institute of Electrical and Electronics Engineers
place: Engineering & Physical Science Research Council (EPSRC)
Description: The Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) problem for port-controlled Hamiltonian systems is revisited. We propose a methodology that exploits the novel notion of algebraic solution of the so-called matching equation. This notion is instrumental for the construction of an energy function, defined on an extended state-space, which does not rely upon the solution of any partial differential equation. This yields, differently from the classical solution, a dynamic state feedback that stabilizes a desired equilibrium point. In addition, conditions that allow to preserve the port-controlled Hamiltonian structure in the extended closed-loop system are provided. The theory is validated on two physical systems: the magnetic levitated ball and a third order food-chain system. A dynamic control law is constructed for both these systems by assigning a damping factor that cannot be assigned by the classical IDA-PBC.
URI: http://dx.doi.org/10.1109/TAC.2015.2400663
Other Identifiers: http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000360501800005&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=1ba7043ffcc86c417c072aa74d649202
1558-2523
http://hdl.handle.net/10044/1/43805
EP/G066477/1
Type Of Material: Other
Appears in Collections:Faculty of Engineering

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