Integral IDA-PBC and PID-like control for port-controlled Hamiltonian systems

M. Ryalat, Dina Shona Laila, M. M. Torbati

Research output: Contribution to conferencePaper

10 Citations (Scopus)

Abstract

Interconnection and damping assignment passivity based control (IDA-PBC) has gained increasing popularity. In this paper, we propose constructive results on integral IDA-PBC and PID-type controllers for a class of port-controlled Hamiltonian (PCH) systems. The results extend some existing methods and address a new framework that allows the implementation of integral action control to under-actuated PCH systems that are quite commonly found in practice. Application of the results to control a Quanser inertia wheel pendulum is provided.
Original languageEnglish
Pages5365 - 5370
DOIs
Publication statusPublished - 30 Jul 2015
EventAmerican Control Conference - Chicago, United States
Duration: 1 Jul 20153 Jul 2015

Conference

ConferenceAmerican Control Conference
CountryUnited States
CityChicago
Period1/07/153/07/15

Bibliographical note

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Keywords

  • Integrated circuits
  • Damping
  • Mechanical systems
  • Wheels
  • Mathematical model
  • Asymptotic stability
  • Robustness
  • three-term control
  • control system synthesis
  • damping
  • nonlinear control systems
  • pendulums
  • Quanser inertia wheel pendulum
  • integral IDA-PBC
  • interconnection and damping assignment passivity based control
  • PID-like control
  • port-controlled Hamiltonian systems
  • underactuated PCH systems
  • integral action control
  • under-actuated systems
  • Hamiltonian systems
  • passivity-based control

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    Ryalat, M., Laila, D. S., & Torbati, M. M. (2015). Integral IDA-PBC and PID-like control for port-controlled Hamiltonian systems. 5365 - 5370. Paper presented at American Control Conference, Chicago, United States. https://doi.org/10.1109/ACC.2015.7172178