Passivity-Based Control of Sampled-Data Systems on Lie Groups with Linear Outputs

被引：2

作者：

McCarthy, Philip James ^{[1
]}

Nielsen, Christopher ^{[1
]}

机构：

[1] Univ Waterloo, Dept Elect & Comp Engn, Waterloo, ON N2L 3G1, Canada

来源：

IFAC PAPERSONLINE | 2016年 / 49卷 / 18期

基金：

加拿大自然科学与工程研究理事会;

关键词：

nonlinear control; discrete-timesystems; stabilization; Lie groups; passivity; DISCRETE-TIME; ATTITUDE-CONTROL; STABILITY; STABILIZATION;

D O I：

10.1016/j.ifacol.2016.10.299

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We present a method of stabilizing a sampled-data system that evolves on a matrix Lie group using passivity The continuous-time plant is assumed passive with known storage function, and its passivity is preserved under sampling by redefining the output of the discretized plant and keeping the storage function. We show that driftlessness is a necessary condition for a sampled-data system on a matrix Lie group to be zero-state observable. The closed-loop sampled-data system is stabilized by any strictly passive controller, and we present a synthesis procedure for a strictly positive real LTI controller. The closed-loop system is shown to be asymptotically stable. This stabilization method is applied to asymptotic tracking of piecewise constant references. (C) 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All Rights Reserved

引用

页码：1006 / 1011

页数：6

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