TY - JOUR
T1 - Stabilization of Physical Systems via Saturated Controllers With Partial State Measurements
AU - Borja, Pablo
AU - Chan-Zheng, Carmen
AU - Scherpen, Jacquelien M.A.
PY - 2023/4/11
Y1 - 2023/4/11
N2 - This article provides a constructive passivity-based control (PBC) approach to solve the set-point regulation problem for input-affine continuous nonlinear systems while considering bounded inputs. As customary in PBC, the methodology consists of two steps: energy shaping and damping injection. In terms of applicability, the proposed controllers have two advantages concerning other PBC techniques: 1) the energy shaping is carried out without solving partial differential equations and 2) the damping injection is performed without measuring the passive output. As a result, the proposed methodology is suitable to control a broad range of physical systems, e.g., mechanical, electrical, and electromechanical systems, with saturated control signals. We illustrate the applicability of the technique by designing controllers for systems in different physical domains, where we validate the analytical results via simulations and experiments.
AB - This article provides a constructive passivity-based control (PBC) approach to solve the set-point regulation problem for input-affine continuous nonlinear systems while considering bounded inputs. As customary in PBC, the methodology consists of two steps: energy shaping and damping injection. In terms of applicability, the proposed controllers have two advantages concerning other PBC techniques: 1) the energy shaping is carried out without solving partial differential equations and 2) the damping injection is performed without measuring the passive output. As a result, the proposed methodology is suitable to control a broad range of physical systems, e.g., mechanical, electrical, and electromechanical systems, with saturated control signals. We illustrate the applicability of the technique by designing controllers for systems in different physical domains, where we validate the analytical results via simulations and experiments.
UR - https://pearl.plymouth.ac.uk/context/secam-research/article/2131/viewcontent/Stabilization_20of_20physical_20systems_20via_20saturated_20controllers_20with_20partial_20state_20measurements.pdf
U2 - 10.1109/tcst.2023.3259243
DO - 10.1109/tcst.2023.3259243
M3 - Article
SN - 1063-6536
VL - 0
SP - 1
EP - 15
JO - IEEE Transactions on Control Systems Technology
JF - IEEE Transactions on Control Systems Technology
IS - 0
ER -