Discrete-time energy-balance passivity-based control
Mattia Mattioni, Alessio Moreschini, S. Monaco, D. Normand‐Cyrot
Abstract
In this paper, new results for passivation and stabilization of discrete-time nonlinear systems via energy balancing are established. When specified on sampled-data systems, the approach is constructive for computing stabilizing digital controllers that assign, at all sampling instants, a target energy profile while stabilizing a target equilibrium. The class of mechanical systems is discussed as an example. Simulations are reported highlighting, for position regulation of a 2R robot, the effect of approximate solutions with respect to standard emulation.
Topics & Concepts
PassivityEmulationControl theory (sociology)ConstructiveComputer scienceNonlinear systemEnergy (signal processing)Position (finance)Control engineeringSampling (signal processing)Discrete time and continuous timeControl (management)EngineeringMathematicsDetectorArtificial intelligenceFinanceTelecommunicationsOperating systemStatisticsEconomicsPhysicsElectrical engineeringQuantum mechanicsProcess (computing)Economic growthControl and Stability of Dynamical SystemsAdvanced Control Systems OptimizationATP Synthase and ATPases Research