PID Passivity-Based Control o Port-Hamiltonian Systems

Meng Zhang; Luis Pablo Borja Rosales; Romeo Ortega; Zhitao Liu; Hongye Su

doi:10.1109/TAC.2017.2732283

Publication

PID Passivity-Based Control o Port-Hamiltonian Systems

Zhang, M., Borja Rosales, L. P., Ortega, R., Liu, Z. & Su, H., Apr-2018, In : IEEE Transactions on Automatic Control. 63, 4, p. 1032-1044 13 p.

Research output: Contribution to journal › Article › Academic › peer-review

APA

Zhang, M., Borja Rosales, L. P., Ortega, R., Liu, Z., & Su, H. (2018). PID Passivity-Based Control o Port-Hamiltonian Systems. IEEE Transactions on Automatic Control, 63(4), 1032-1044. https://doi.org/10.1109/TAC.2017.2732283

Author

Zhang, Meng ; Borja Rosales, Luis Pablo ; Ortega, Romeo ; Liu, Zhitao ; Su, Hongye. / PID Passivity-Based Control o Port-Hamiltonian Systems. In: IEEE Transactions on Automatic Control. 2018 ; Vol. 63, No. 4. pp. 1032-1044.

Harvard

Zhang, M, Borja Rosales, LP, Ortega, R, Liu, Z & Su, H 2018, 'PID Passivity-Based Control o Port-Hamiltonian Systems', IEEE Transactions on Automatic Control, vol. 63, no. 4, pp. 1032-1044. https://doi.org/10.1109/TAC.2017.2732283

Standard

PID Passivity-Based Control o Port-Hamiltonian Systems. / Zhang, Meng; Borja Rosales, Luis Pablo; Ortega, Romeo; Liu, Zhitao; Su, Hongye.

In: IEEE Transactions on Automatic Control, Vol. 63, No. 4, 04.2018, p. 1032-1044.

Research output: Contribution to journal › Article › Academic › peer-review

Vancouver

Zhang M, Borja Rosales LP, Ortega R, Liu Z, Su H. PID Passivity-Based Control o Port-Hamiltonian Systems. IEEE Transactions on Automatic Control. 2018 Apr;63(4):1032-1044. https://doi.org/10.1109/TAC.2017.2732283

BibTeX

@article{054bf5610f2b4abc9cb20bcc5e21dc0c,

title = "PID Passivity-Based Control o Port-Hamiltonian Systems",

abstract = "In this note, we address the problem of stabilization of port-Hamiltonian systems via the ubiquitous proportional-integral-derivative (PID) controller. The design is based on passivity theory, hence the first step is to identify all passive outputs of the system, which is the first contribution of the paper. Adding a PID around this signal ensures that the closed-loop system is G,,-stable for all positive PID gains. Global stability (and/or global attractivity) of a desired constant equilibrium is also guaranteed for a new class of systems for which a Lyapunov function can be constructed. A second contribution is to prove that this class-that is identified via some easily verifiable integrability conditions-is strictly larger than the ones previously reported in the literature. Comparisons of the proposed PID controller with control-by-interconnection passivity-based control are also discussed.",

keywords = "Hamiltonian systems, nonlinear systems, passivity, passivity-based control (PBC), stabilization, NONLINEAR RLC CIRCUITS, MECHANICAL SYSTEMS, INTERCONNECTION, ENERGY, STABILIZATION, DISSIPATION, TRACKING",

author = "Meng Zhang and {Borja Rosales}, {Luis Pablo} and Romeo Ortega and Zhitao Liu and Hongye Su",

year = "2018",

month = apr,

doi = "10.1109/TAC.2017.2732283",

language = "English",

volume = "63",

pages = "1032--1044",

journal = "IEEE-Transactions on Automatic Control",

issn = "0018-9286",

publisher = "IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC",

number = "4",

}

RIS

TY - JOUR

T1 - PID Passivity-Based Control o Port-Hamiltonian Systems

AU - Zhang, Meng

AU - Borja Rosales, Luis Pablo

AU - Ortega, Romeo

AU - Liu, Zhitao

AU - Su, Hongye

PY - 2018/4

Y1 - 2018/4

N2 - In this note, we address the problem of stabilization of port-Hamiltonian systems via the ubiquitous proportional-integral-derivative (PID) controller. The design is based on passivity theory, hence the first step is to identify all passive outputs of the system, which is the first contribution of the paper. Adding a PID around this signal ensures that the closed-loop system is G,,-stable for all positive PID gains. Global stability (and/or global attractivity) of a desired constant equilibrium is also guaranteed for a new class of systems for which a Lyapunov function can be constructed. A second contribution is to prove that this class-that is identified via some easily verifiable integrability conditions-is strictly larger than the ones previously reported in the literature. Comparisons of the proposed PID controller with control-by-interconnection passivity-based control are also discussed.

AB - In this note, we address the problem of stabilization of port-Hamiltonian systems via the ubiquitous proportional-integral-derivative (PID) controller. The design is based on passivity theory, hence the first step is to identify all passive outputs of the system, which is the first contribution of the paper. Adding a PID around this signal ensures that the closed-loop system is G,,-stable for all positive PID gains. Global stability (and/or global attractivity) of a desired constant equilibrium is also guaranteed for a new class of systems for which a Lyapunov function can be constructed. A second contribution is to prove that this class-that is identified via some easily verifiable integrability conditions-is strictly larger than the ones previously reported in the literature. Comparisons of the proposed PID controller with control-by-interconnection passivity-based control are also discussed.

KW - Hamiltonian systems

KW - nonlinear systems

KW - passivity

KW - passivity-based control (PBC)

KW - stabilization

KW - NONLINEAR RLC CIRCUITS

KW - MECHANICAL SYSTEMS

KW - INTERCONNECTION

KW - ENERGY

KW - STABILIZATION

KW - DISSIPATION

KW - TRACKING

U2 - 10.1109/TAC.2017.2732283

DO - 10.1109/TAC.2017.2732283

M3 - Article

VL - 63

SP - 1032

EP - 1044

JO - IEEE-Transactions on Automatic Control

JF - IEEE-Transactions on Automatic Control

SN - 0018-9286

IS - 4

ER -

ID: 77515819

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