Integral IDA-PBC and PID-like control for port-controlled Hamiltonian systems

Author

Ryalat, Mutaz ; Laila, Dina Shona ; Torbati, Mohamed M.

Author_Institution

Sch. of Eng. Sci., Univ. of Southampton, Southampton, UK

fYear

2015

fDate

1-3 July 2015

Firstpage

5365

Lastpage

5370

Abstract

Interconnection and damping assignment passivity based control (IDA-PBC) has gained increasing popularity. In this paper, we propose constructive results on integral IDA-PBC and PID-type controllers for a class of port-controlled Hamiltonian (PCH) systems. The results extend some existing methods and address a new framework that allows the implementation of integral action control to under-actuated PCH systems that are quite commonly found in practice. Application of the results to control a Quanser inertia wheel pendulum is provided.

Keywords

control system synthesis; damping; nonlinear control systems; pendulums; three-term control; PID-like control; Quanser inertia wheel pendulum; integral IDA-PBC; integral action control; interconnection and damping assignment passivity based control; port-controlled Hamiltonian systems; underactuated PCH systems; Asymptotic stability; Damping; Integrated circuits; Mathematical model; Mechanical systems; Robustness; Wheels; Hamiltonian systems; integral action control; passivity-based control; under-actuated systems;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference (ACC), 2015

Conference_Location

Chicago, IL

Print_ISBN

978-1-4799-8685-9

Type

conf

DOI

10.1109/ACC.2015.7172178

Filename

7172178