A limit set stabilization by means of the Port Hamiltonian system approach

Carlos Aguilar-Ibañez; Julio A. Mendoza-Mendoza; Juan C. Martinez; Jose De Jesus Rubio; Miguel S. Suarez-Castanon

doi:10.1002/rnc.3160

A limit set stabilization by means of the Port Hamiltonian system approach

Carlos Aguilar-Ibañez, Julio A. Mendoza-Mendoza, Juan C. Martinez, Jose De Jesus Rubio, Miguel S. Suarez-Castanon

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

5 Scopus citations

Abstract

A solution to the stabilization problem of a compact set by means of the Interconnection and Damping Assignment Passivity-Based Control methodology, for an affine nonlinear system, was introduced. To this end, we expressed the closed-loop system as a Port Hamiltonian system, having the property of almost all their trajectories asymptotically converge to a convenient limit set, except for a set of measure zero. It was carried out by solving a partial differential equation (PDE) or single matching condition, which allows the desired energy level or limit set E to be shaped explicitly. The control strategy was tested using the magnetic beam balance system and the pendulum actuated by a direct current motor (DC-motor), having obtained satisfactory results.

Original language	English
Pages (from-to)	1739-1750
Number of pages	12
Journal	International Journal of Robust and Nonlinear Control
Volume	25
Issue number	12
DOIs	https://doi.org/10.1002/rnc.3160
State	Published - 1 Aug 2015

Keywords

IDA-PBC methodology
Port Hamiltonian system
nonlinear control
stabilization problem

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10.1002/rnc.3160

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abstract = "A solution to the stabilization problem of a compact set by means of the Interconnection and Damping Assignment Passivity-Based Control methodology, for an affine nonlinear system, was introduced. To this end, we expressed the closed-loop system as a Port Hamiltonian system, having the property of almost all their trajectories asymptotically converge to a convenient limit set, except for a set of measure zero. It was carried out by solving a partial differential equation (PDE) or single matching condition, which allows the desired energy level or limit set E to be shaped explicitly. The control strategy was tested using the magnetic beam balance system and the pendulum actuated by a direct current motor (DC-motor), having obtained satisfactory results.",

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AU - Aguilar-Ibañez, Carlos

AU - Mendoza-Mendoza, Julio A.

AU - Martinez, Juan C.

AU - De Jesus Rubio, Jose

AU - Suarez-Castanon, Miguel S.

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AB - A solution to the stabilization problem of a compact set by means of the Interconnection and Damping Assignment Passivity-Based Control methodology, for an affine nonlinear system, was introduced. To this end, we expressed the closed-loop system as a Port Hamiltonian system, having the property of almost all their trajectories asymptotically converge to a convenient limit set, except for a set of measure zero. It was carried out by solving a partial differential equation (PDE) or single matching condition, which allows the desired energy level or limit set E to be shaped explicitly. The control strategy was tested using the magnetic beam balance system and the pendulum actuated by a direct current motor (DC-motor), having obtained satisfactory results.

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A limit set stabilization by means of the Port Hamiltonian system approach

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