The paper provides a new class of passivity-based controllers (PBCs) for stabilizing sampled-data input-delayed dynamics at a desired equilibrium via energy-balancing (EB) and reduction. Given a nonlinear dynamics under piecewise constant and retarded input, we first exhibit a new dynamics (the reduced dynamics) that is free of delays and equivalent to the original one. Accordingly, we design the digital controller assigning a suitable energetic behaviour to the reduced delay-free model with a stable target equilibrium. Then, it is proved that such a controller solves the EB-PBC problem on the original retarded system. The results are illustrated over a simple mechanical system.
Energy-Balance PBC of nonlinear dynamics under sampling and delays / Mattioni, M.; Monaco, S.; Normand-Cyrot, D.. - 55:36(2022), pp. 264-269. (Intervento presentato al convegno 17th IFAC Workshop on Time Delay Systems, TDS 2022 tenutosi a Montreal, Canada) [10.1016/j.ifacol.2022.11.368].
Energy-Balance PBC of nonlinear dynamics under sampling and delays
Mattioni M.
;Monaco S.;
2022
Abstract
The paper provides a new class of passivity-based controllers (PBCs) for stabilizing sampled-data input-delayed dynamics at a desired equilibrium via energy-balancing (EB) and reduction. Given a nonlinear dynamics under piecewise constant and retarded input, we first exhibit a new dynamics (the reduced dynamics) that is free of delays and equivalent to the original one. Accordingly, we design the digital controller assigning a suitable energetic behaviour to the reduced delay-free model with a stable target equilibrium. Then, it is proved that such a controller solves the EB-PBC problem on the original retarded system. The results are illustrated over a simple mechanical system.File | Dimensione | Formato | |
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