Discrete-time energy-balance passivity-based control

被引：8
|
作者：
Mattioni, Mattia [1 ]
Moreschini, Alessio [2 ]
Monaco, Salvatore [1 ]
Normand-Cyrot, Dorothee [3 ]
机构：
[1] Univ Roma La Sapienza, Dipartimento Ingn Informat Automat & Gest Antonio, Via Ariosto 25, I-00185 Rome, Italy
[2] Imperial Coll London, Dept Elect & Elect Engn, London SW7 2AZ, England
[3] Univ Paris Saclay, Lab Signaux & Syst, Cent Supelec, CNRS,L2S, 3 Rue Joliot Curie, F-91192 Gif Sur Yvette, France
来源：
AUTOMATICA | 2022年 / 146卷
关键词：
Passivity-based control; Nonlinear discrete-time systems; Digital implementation; Asymptotic stabilization; Sampled-data stabilization; NONLINEAR-SYSTEMS; INPUT-OUTPUT; STABILIZATION; INTERCONNECTION; DYNAMICS; DELAY;
D O I：
10.1016/j.automatica.2022.110662
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, new results for passivation and stabilization of discrete-time nonlinear systems via en-ergy 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.(c) 2022 Elsevier Ltd. All rights reserved.
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页数：9
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