Stabilization of Discrete Port-Hamiltonian Dynamics via Interconnection and Damping Assignment

Moreschini, Alessio; Mattioni, Mattia; Monaco, Salvatore; Normand‐Cyrot, D.

doi:10.1109/lcsys.2020.3000705

Cited by 28 publications

(26 citation statements)

References 23 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…As an interesting outcome, we stress that the sampled-data equivalent model we propose evolves over a Dirac structure when properly defining effort and flow variables into the storing and dissipating ports and the environmental interaction through the input. Perspectives concern the use of these models to investigate IDA-PBCs for set point stabilization of port-Hamiltonian systems along the lines of preliminary results set for purely discrete time systems [44]. Further perspectives concern the time discretization of distributed port-Hamiltonian systems described by PDEs (see [45], [46]).…”

Section: Discussionmentioning

confidence: 99%

Nonlinear Hamiltonian Systems Under Sampling

Monaco

Normand‐Cyrot

Mattioni

et al. 2022

IEEE Trans. Automat. Contr.

Self Cite

View full text Add to dashboard Cite

This paper investigates the transformation of Hamiltonian structures under sampling. It is shown that the exact sampled-data equivalent model associated to a given port-Hamiltonian continuous-time dynamics exhibits a discrete-time representation in terms of the discrete gradient, with the same energy function but modified damping and interconnection matrices. By construction, the proposed sampled-data dynamics guarantees exact matching of both the state evolutions and the energy-balance at all sampling instants. Its generalization to port-controlled Hamiltonian dynamics leads to characterize a new power conjugate output which recovers the average-passivating output. On these bases, energy-management control strategies are proposed. An energetic interpretation is confirmed by its description in the Dirac formalism. Two classical examples are worked out to validate the proposed sampleddata modeling in a comparative way with the literature.

show abstract

Section: Discussionmentioning

confidence: 99%

Nonlinear Hamiltonian Systems Under Sampling

Monaco

Normand‐Cyrot

Mattioni

et al. 2022

IEEE Trans. Automat. Contr.

Self Cite

View full text Add to dashboard Cite

show abstract

“…the drift and controlled components associated to (8). In this setting we wish to accomplish stabilization of ζ = col{ε , 0} as in ( 4) by solving a discrete-time IDA-PBC problem over the sampled-data equivalent model (8) in two steps, as formalized in [18] and recalled below. Problem 3.1 (sampled-data energy-shaping): Design the energy-shaping control u δ es : R 4 × R 3 → R 3 so that, setting…”

Section: Sampled-data Model and Problem Statementmentioning

confidence: 99%

“…The contribution of this work stands in providing a new scalable digital control law involving single-rate sampling and quaternion description of the kinematics. The solution we propose is based on discrete-time Interconnection and Damping Assignment (IDA)-PBC [18] over the sampled-data equivalent model associated to the attitude dynamics with the aim of assigning a suitably defined discrete port-controlled Hamiltonian (pcH) structure [19], [20]. Accordingly, the control is constructively proved to be the solution to a discrete matching equality.…”

Section: Introductionmentioning

confidence: 99%

Quaternion-Based Attitude Stabilization via Discrete-Time IDA-PBC

Mattioni

Moreschini

Monaco

et al. 2022

IEEE Control Syst. Lett.

Self Cite

View full text Add to dashboard Cite

In this paper, we propose a new sampled-data controller for stabilization of the attitude dynamics at a desired constant configuration. The design is based on discrete-time interconnection and damping assignment (IDA) passivity-based control (PBC) and the recently proposed Hamiltonian representation of discrete-time nonlinear dynamics. Approximate solutions are provided with simulations illustrating performances.

show abstract

“…The other is based on the energy transformation control strategy. The port-controlled Hamiltonian (PCH) method based on interconnection and damping assignment is a popular approach for nonlinear systems because of its simple model structure, convenient stability analysis and excellent steady-state characteristics [13], [14]. This method has been well applied in industry [15]- [17].…”

Section: Introductionmentioning

confidence: 99%

Development of Optimized Cooperative Control Based on Feedback Linearization and Error Port-Controlled Hamiltonian for Permanent Magnet Synchronous Motor

Zhao¹,

Wang

2021

IEEE Access

View full text Add to dashboard Cite

The conflict between dynamic rapidity and steady-state accuracy is a crucial factor hindering the performance improvement of motor control system. To overcome the issue, this article proposes an optimized cooperative control combining feedback linearization (FBL) and error port-controlled Hamiltonian (EPCH) for permanent magnet synchronous motor (PMSM). First, FBL and EPCH are separately designed to obtain good dynamic and steady-state performances. Then, considering the individual advantages of FBL and EPCH, a cooperative strategy based on the real-time position error is applied to realize the smooth switching between the two methods, so that each method is utilized efficiently within the corresponding operating range. In addition, the particle swarm optimization (PSO) algorithm is introduced to properly select the controller parameters. Thus, an optimized cooperative control method, which takes into account both fast dynamic response and high steady-state precision, is developed for PMSM drives. The experimental results are finally given to illustrate the effectiveness and superiority of the proposed method.

show abstract

Stabilization of Discrete Port-Hamiltonian Dynamics via Interconnection and Damping Assignment

Cited by 28 publications

References 23 publications

Nonlinear Hamiltonian Systems Under Sampling

Nonlinear Hamiltonian Systems Under Sampling

Quaternion-Based Attitude Stabilization via Discrete-Time IDA-PBC

Development of Optimized Cooperative Control Based on Feedback Linearization and Error Port-Controlled Hamiltonian for Permanent Magnet Synchronous Motor

Contact Info

Product

Resources

About