New Results on Stabilization of Port-Hamiltonian Systems via PID Passivity-Based Control

• 成果类型: Article
• 署名作者: Borja, Pablo; Ortega, Romeo; Scherpen, Jacquelien M. A.
• 署名单位: University of Groningen; Centre National de la Recherche Scientifique (CNRS); CNRS - Institute for Information Sciences & Technologies (INS2I); Universite Paris Saclay; ITMO University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2020.2986731
• 发表日期: 2021
• 页码: 625-636
• 关键词: Energy shaping; Nonlinear systems; passive output; stabilization

摘要

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.