The main contribution of this paper is a procedure for the passivity-based control of high-order port-Hamiltonian systems obtained from the spatial discretization of infinite dimensional dynamics. Beside the intrinsic difficulties related to the large number of state variables, the finite element model is generally given in terms of a Dirac structure and is completely a-causal, which implies that the plant dynamics is not given in standard input-state-output form, but as a set of DAEs. Consequently, the passivity-based methods have to be extended in order to deal with dynamical systems with constraints, usually appearing in the form of Lagrangian multipliers.

Macchelli A., Melchiorri C. (2010). Passivity-Based Control of Spatially-Discretized Port-Hamiltonian Systems. LAXENBURG : IFAC [10.3182/20100901-3-IT-2016.00158].

Passivity-Based Control of Spatially-Discretized Port-Hamiltonian Systems

MACCHELLI, ALESSANDRO;MELCHIORRI, CLAUDIO
2010

Abstract

The main contribution of this paper is a procedure for the passivity-based control of high-order port-Hamiltonian systems obtained from the spatial discretization of infinite dimensional dynamics. Beside the intrinsic difficulties related to the large number of state variables, the finite element model is generally given in terms of a Dirac structure and is completely a-causal, which implies that the plant dynamics is not given in standard input-state-output form, but as a set of DAEs. Consequently, the passivity-based methods have to be extended in order to deal with dynamical systems with constraints, usually appearing in the form of Lagrangian multipliers.
2010
Proc. 8th IFAC Symposium on Nonlinear Control Systems
1
6
Macchelli A., Melchiorri C. (2010). Passivity-Based Control of Spatially-Discretized Port-Hamiltonian Systems. LAXENBURG : IFAC [10.3182/20100901-3-IT-2016.00158].
Macchelli A.; Melchiorri C.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11585/101582
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