Robust Hamiltonian passive control for higher relative degree outpus
Visualitza/Obre
Tipus de documentReport de recerca
Data publicació2006-09
Condicions d'accésAccés obert
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Reconeixement-NoComercial-SenseObraDerivada 2.5 Espanya
Abstract
We present an improvement of the well-know Interconnection and Damping Assignment-Passivity-based Control (IDA-PBC) technique. The IDA-PBC method is based on the Port –controlled Hamiltonian Systems description and requires the knowledge of the full energy (or Hamiltonian) function. This is a problem because, in general, the equilibrium point which is to be regulated depends on uncertain parameters. In this paper, we show how select the target port-Hamiltonian structure so that this dependence is reduced. This new approach allows to improve the robustness for higher relative degree outputs, and, for illustration purposes, is applied to a simple academic nonlinear system
Forma partIOC-DT-P; 2006-25
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