Memristive Port-Hamiltonian Control: Path-Dependent Damping Injection in Control of Mechanical Systems
Document typeConference report
Rights accessRestricted access - publisher's policy
This paper presents the use of the memristor as a new element for designing passivity-based controllers. From the port-Hamiltonian description of the electrical circuits with memristors, a target dynamics is assigned to the matching equation proposed by the methodology known as Interconnection and Damping Assignment-Passivity-based Control. The inclusion of the memristor element extends the closed loop dynamics and it results in an extra term in the control algorithm that can be seen as a state-modulated gain. Two mechanical examples, in the form of a position control systems are included to show possible applications
CitationDoria-Cerezo, A.; van der Heijden, L.; Jaqueline, S. Memristive Port-Hamiltonian Control: Path-Dependent Damping Injection in Control of Mechanical Systems. A: 4th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control. "Proc. 4th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control". Bertinoro: 2013, p. 172-177.