SOME APPLICATIONS AND EXTENSIONS OF INTERCONNECTION AND DAMPING ASSIGNMENT PASSIVITY-BASED CONTROL

扫码查看

原文链接

NETL

外文摘要：Interconnection and Damping Assignment Passivity-based Control is a technique which achieves stabilization of nonlinear systems assigning a desired (port-controlled Hamiltonian) structure to the closed-loop。 Since the introduction of this controller design methodology four years ago many theoretical extensions and practical applications have been reported in the literature。 The theoretical developments include some useful variations and shortcuts that may be introduced when the technique is applied to particular classes of systems and the incorporation of additional features to handle control scenarios other than just stabilization。 The purposes of this paper are to collect and present in a unified way some of the new theoretical results and to discuss the current research and future directions。

外文关键词：

passivitynonlinear systemsstabilizationpassivity-based controlhamiltonian systems

作者：

Romeo Ortega

展开 >

作者单位：

Laboratoire des Signaux et Systemes Supelec Plateau du Moulon 91192 Gif-sur-Yvette FRANCE

会议名称：

Lagrangian and Hamiltonian Methods for Nonlinear Control 2003

会议地点：

Seville(ES)

会议母体文献：

2nd IFAC (International Federation of Automatic Control) Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control 2003 Apr 3-5, 2003 Seville, Spain

页码：

p.41-50

出版时间：

2003