Discrete-time energy-balance passivity-based control
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| Title: | Discrete-time energy-balance passivity-based control |
|---|---|
| Authors: | Mattioni, Mattia, Moreschini, Alessio, Monaco, Salvatore, Normand-Cyrot, Dorothée |
| Contributors: | Dipartimento di Ingegneria informatica automatica e gestionale Roma (DIAG UNIROMA), Università degli Studi di Roma "La Sapienza" = Sapienza University Rome (UNIROMA), Imperial College London, Laboratoire des signaux et systèmes (L2S), CentraleSupélec-Université Paris-Saclay-Centre National de la Recherche Scientifique (CNRS) |
| Source: | ISSN: 0005-1098 ; Automatica ; https://hal.science/hal-04227942 ; Automatica, 2022, 146, pp.110662. ⟨10.1016/j.automatica.2022.110662⟩. |
| Publisher Information: | CCSD Elsevier |
| Publication Year: | 2022 |
| Subject Terms: | sampled-data stabilization, asymptotic stabilization, digital implementation, nonlinear discrete-time systems, passivity-based control, passivity-based control nonlinear discrete-time systems digital implementation asymptotic stabilization sampled-data stabilization, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY] |
| Description: | International audience ; In this paper, new results for passivation and stabilization of discrete-time nonlinear systems via energy balancing are established. When specified on sampled-data systems, the approach is constructive for computing stabilizing digital controllers that assign, at all sampling instants, a target energy profile while stabilizing a target equilibrium. The class of mechanical systems is discussed as an example. Simulations are reported highlighting, for position regulation of a 2R robot, the effect of approximate solutions with respect to standard emulation. |
| Document Type: | article in journal/newspaper |
| Language: | English |
| DOI: | 10.1016/j.automatica.2022.110662 |
| Availability: | https://hal.science/hal-04227942 https://hal.science/hal-04227942v1/document https://hal.science/hal-04227942v1/file/ENERGY_BALANCE.pdf https://doi.org/10.1016/j.automatica.2022.110662 |
| Rights: | info:eu-repo/semantics/OpenAccess |
| Accession Number: | edsbas.91504CE7 |
| Database: | BASE |
Nájsť tento článok vo Web of Science | Abstract: | International audience ; In this paper, new results for passivation and stabilization of discrete-time nonlinear systems via energy balancing are established. When specified on sampled-data systems, the approach is constructive for computing stabilizing digital controllers that assign, at all sampling instants, a target energy profile while stabilizing a target equilibrium. The class of mechanical systems is discussed as an example. Simulations are reported highlighting, for position regulation of a 2R robot, the effect of approximate solutions with respect to standard emulation. |
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| DOI: | 10.1016/j.automatica.2022.110662 |