Paper Info
Title
New Results on Stabilization of Port-Hamiltonian Systems via PID Passivity-Based Control
Abstract
In this article, we present some new results for the design of PID passivity-based controllers (PBCs) for the regulation of port-Hamiltonian (pH) systems. The main contributions of this article are: (i) new algebraic conditions for the explicit solution of the partial differential equation required in this design; (ii) revealing the deleterious impact of the dissipation obstacle that limits the application of the standard PID-PBC to systems without pervasive dissipation; (iii) the proposal of a new PID-PBC which is generated by two passive outputs, one with relative degree zero and the other with relative degree one. The first output ensures that the PID-PBC is not hindered by the dissipation obstacle, while the relative degree of the second passive output allows the inclusion of a derivative term. Making the procedure more constructive and removing the requirement on the dissipation significantly extends the realm of application of PID-PBC. Moreover, allowing the possibility of adding a derivative term to the control, enhances its transient performance.
Year
DOI
Venue
2021
10.1109/TAC.2020.2986731
IEEE Transactions on Automatic Control
Keywords
DocType
Volume
Energy shaping,nonlinear systems,passive output,stabilization
Journal
66
Issue
ISSN
Citations 
2
0018-9286
3
PageRank 
References 
Authors
0.45
17
3
Name
Order
Citations
PageRank
Pablo Borja130.45
Romeo Ortega22461368.80
Jacquelien M. A. Scherpen349195.93