Robust integral control of port-Hamiltonian systems: the case of non-passive outputs with unmatched disturbances

DOI10.1016/j.sysconle.2011.09.015zbMath1250.93050OpenAlexW2027238669MaRDI QIDQ450681

Jose Guadalupe Romero, Romeo S. Ortega

Publication date: 14 September 2012

Published in: Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.sysconle.2011.09.015

zbMATH Keywords

nonlinear controlintegral controlport-Hamiltonian systems

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Controllability (93B05) Perturbations in control/observation systems (93C73)

Related Items (12)

Agreeing in networks: unmatched disturbances, algebraic constraints and optimality ⋮ Robust energy shaping control of mechanical systems ⋮ On the effects of desired damping matrix and desired Hamiltonian function in the matching equation for port-Hamiltonian systems ⋮ Path following of a class of underactuated mechanical systems via immersion and invariance‐based orbital stabilization ⋮ Scalability of bidirectional vehicle strings with static and dynamic measurement errors ⋮ Integral passivity‐based control of underactuated mechanical systems with actuator dynamics and constant disturbances ⋮ Position Control via Force Feedback in the Port-Hamiltonian Framework ⋮ Global output regulation for a class of single input port-controlled Hamiltonian disturbed systems ⋮ Preparation of Quantum Gates for Open Quantum Systems by Lyapunov Control Method ⋮ A robust PI passivity-based control of nonlinear systems and its application to temperature regulation ⋮ Passivity-Based Control Design and Experiments for a Rolling-Balancing System ⋮ Passivity-based control for multi-vehicle systems subject to string constraints

Cites Work

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• \(L_2\)-gain and passivity techniques in nonlinear control
• Adaptive motion control of rigid robots: A tutorial
• On the addition of integral action to port-controlled Hamiltonian systems
• Passivity of nonlinearity incremental systems: application to PI stabilization of nonlinear RLC circuits
• Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems
• Interconnection and damping assignment passivity-based control: a survey
• Canonical transformation and stabilization of generalized Hamiltonian systems

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