TY - JOUR
T1 - A limit set stabilization by means of the Port Hamiltonian system approach
AU - Aguilar-Ibañez, Carlos
AU - Mendoza-Mendoza, Julio A.
AU - Martinez, Juan C.
AU - De Jesus Rubio, Jose
AU - Suarez-Castanon, Miguel S.
N1 - Publisher Copyright:
Copyright © 2014 John Wiley & Sons, Ltd.
PY - 2015/8/1
Y1 - 2015/8/1
N2 - 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.
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.
KW - IDA-PBC methodology
KW - Port Hamiltonian system
KW - nonlinear control
KW - stabilization problem
UR - http://www.scopus.com/inward/record.url?scp=84937024216&partnerID=8YFLogxK
U2 - 10.1002/rnc.3160
DO - 10.1002/rnc.3160
M3 - Artículo
SN - 1049-8923
VL - 25
SP - 1739
EP - 1750
JO - International Journal of Robust and Nonlinear Control
JF - International Journal of Robust and Nonlinear Control
IS - 12
ER -