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.

Discrete-time energy-balance passivity-based control / Mattioni, M.; Moreschini, A.; Monaco, S.; Normand-Cyrot, D.. - In: AUTOMATICA. - ISSN 0005-1098. - 146:(2022). [10.1016/j.automatica.2022.110662]

Discrete-time energy-balance passivity-based control

Mattioni M.
;
Moreschini A.;Monaco S.;
2022

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.
2022
Asymptotic stabilization; Digital implementation; Nonlinear discrete-time systems; Passivity-based control; Sampled-data stabilization
01 Pubblicazione su rivista::01a Articolo in rivista
Discrete-time energy-balance passivity-based control / Mattioni, M.; Moreschini, A.; Monaco, S.; Normand-Cyrot, D.. - In: AUTOMATICA. - ISSN 0005-1098. - 146:(2022). [10.1016/j.automatica.2022.110662]
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/1658000
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