Energy-balancing passivity-based control

Author

Ortega, Romeo ; Mareels, Iven

Author_Institution

Lab. des Signaux et Syst., CNRS, Gif-sur-Yvette, France

Volume

2

fYear

2000

fDate

2000

Firstpage

1265

Abstract

Ortega et al. have defined a class of Hamiltonian systems such that the application of passivity-based control (PBC) yields a closed-loop energy which is equal to the difference between the stored and the supplied energies. We call this special class of PBC energy-balancing (EB). We show how EB-PBC can be extended to general nonlinear passive systems. Further we identify the physical obstacle that hampers the utilization of EB-PBC in applications other than mechanical systems. In particular, we show that EB-PBC is stymied by the presence of unbounded energy dissipation

Keywords

asymptotic stability; closed loop systems; dynamics; nonlinear control systems; partial differential equations; position control; Hamiltonian system; closed-loop energy; energy-balancing passivity-based control; general nonlinear passive systems; mechanical systems; stored energy; supplied energy; unbounded energy dissipation; Control systems; Design methodology; Energy capture; Energy dissipation; Energy storage; Integrated circuit interconnections; Manipulators; Mechanical factors; Mechanical systems; Robot control;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2000. Proceedings of the 2000

Conference_Location

Chicago, IL

ISSN

0743-1619

Print_ISBN

0-7803-5519-9

Type

conf

DOI

10.1109/ACC.2000.876703

Filename

876703