Motivated by applications of systems interacting with their environments, we study the design of passivitybased controllers for a class of hybrid systems. Classical and hybrid-specific notions of passivity along with detectability and solution conditions are linked to asymptotic stability. These results are used to design passivity-based controllers following classical passivity theory. An application, pertaining to a point mass physically interacting with the environment, illustrates the definitions and the results obtained throughout this work.
R. Naldi, R. Sanfelice (2011). Passivity-based Controllers for a class of hybrid systems with applications to mechanical systems Interacting with their environment. IEEE [10.1109/CDC.2011.6161066].
Passivity-based Controllers for a class of hybrid systems with applications to mechanical systems Interacting with their environment
NALDI, ROBERTO;
2011
Abstract
Motivated by applications of systems interacting with their environments, we study the design of passivitybased controllers for a class of hybrid systems. Classical and hybrid-specific notions of passivity along with detectability and solution conditions are linked to asymptotic stability. These results are used to design passivity-based controllers following classical passivity theory. An application, pertaining to a point mass physically interacting with the environment, illustrates the definitions and the results obtained throughout this work.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.