Considerations on the zero-dynamics of port Hamiltonian systems and application to passive implementation of sliding-mode control

Alessandro Macchelli; Stefano Stramigioli; Arjan van der Schaft; Claudio Melchiorri

doi:10.3182/20020721-6-ES-1901.00252

Considerations on the zero-dynamics of port Hamiltonian systems and application to passive implementation of sliding-mode control

Alessandro Macchelli, Stefano Stramigioli, Arjan van der Schaft, Claudio Melchiorri

Research output: Contribution to journal › Conference article › Academic › peer-review

3 Citations (Scopus)

33 Downloads (Pure)

Abstract

In this work a passive control scheme for port Hamiltonian systems with dissipation (PHD) that is able to conserve the PHD structure of the dynamics of the system when constrained over a sub-manifold of the state space is presented. The idea is to modify the interconnection and damping structure of the system and to add a proper dynamical extension in such a way that the constraint could be related with some dynamical invariant of the resulting closed-loop system. Since part of the structure of this dynamical extension can be arbitrarily chosen, it is also possible to drive the state of the system on the constraint and to clearly obtain the dynamical behavior that the constraint de?nes. If a proper variable structure dynamical extension is chosen, it is possible to achieve a sliding-mode like behavior that can be suitable to some energetic considerations.

Original language	English
Pages (from-to)	13-18
Number of pages	6
Journal	IFAC proceedings volumes
Volume	35
Issue number	1
DOIs	https://doi.org/10.3182/20020721-6-ES-1901.00252
Publication status	Published - 2002
Event	15th IFAC World Congress 2002 - Barcelona, Spain Duration: 21 Jul 2002 → 26 Jul 2002 Conference number: 15 http://folk.ntnu.no/skoge/prost/proceedings/ifac2002/home.htm

Keywords

Hamiltonian systems
Sliding mode
Casimir functions
Constrained dynamics
22/4 OA procedure

Access to Document

10.3182/20020721-6-ES-1901.00252

ArticleFinal published version, 127 KBLicence: Taverne

Cite this

@article{2c9b1df743e84587864dfb8bae8032eb,

title = "Considerations on the zero-dynamics of port Hamiltonian systems and application to passive implementation of sliding-mode control",

abstract = "In this work a passive control scheme for port Hamiltonian systems with dissipation (PHD) that is able to conserve the PHD structure of the dynamics of the system when constrained over a sub-manifold of the state space is presented. The idea is to modify the interconnection and damping structure of the system and to add a proper dynamical extension in such a way that the constraint could be related with some dynamical invariant of the resulting closed-loop system. Since part of the structure of this dynamical extension can be arbitrarily chosen, it is also possible to drive the state of the system on the constraint and to clearly obtain the dynamical behavior that the constraint de?nes. If a proper variable structure dynamical extension is chosen, it is possible to achieve a sliding-mode like behavior that can be suitable to some energetic considerations.",

keywords = "Hamiltonian systems, Sliding mode, Casimir functions, Constrained dynamics, 22/4 OA procedure",

author = "Alessandro Macchelli and Stefano Stramigioli and {van der Schaft}, Arjan and Claudio Melchiorri",

year = "2002",

doi = "10.3182/20020721-6-ES-1901.00252",

language = "English",

volume = "35",

pages = "13--18",

journal = "IFAC proceedings volumes",

issn = "1474-6670",

publisher = "IFAC Secretariat",

number = "1",

note = "15th IFAC World Congress 2002 ; Conference date: 21-07-2002 Through 26-07-2002",

url = "http://folk.ntnu.no/skoge/prost/proceedings/ifac2002/home.htm",

}

TY - JOUR

T1 - Considerations on the zero-dynamics of port Hamiltonian systems and application to passive implementation of sliding-mode control

AU - Macchelli, Alessandro

AU - Stramigioli, Stefano

AU - van der Schaft, Arjan

AU - Melchiorri, Claudio

N1 - Conference code: 15

PY - 2002

Y1 - 2002

N2 - In this work a passive control scheme for port Hamiltonian systems with dissipation (PHD) that is able to conserve the PHD structure of the dynamics of the system when constrained over a sub-manifold of the state space is presented. The idea is to modify the interconnection and damping structure of the system and to add a proper dynamical extension in such a way that the constraint could be related with some dynamical invariant of the resulting closed-loop system. Since part of the structure of this dynamical extension can be arbitrarily chosen, it is also possible to drive the state of the system on the constraint and to clearly obtain the dynamical behavior that the constraint de?nes. If a proper variable structure dynamical extension is chosen, it is possible to achieve a sliding-mode like behavior that can be suitable to some energetic considerations.

AB - In this work a passive control scheme for port Hamiltonian systems with dissipation (PHD) that is able to conserve the PHD structure of the dynamics of the system when constrained over a sub-manifold of the state space is presented. The idea is to modify the interconnection and damping structure of the system and to add a proper dynamical extension in such a way that the constraint could be related with some dynamical invariant of the resulting closed-loop system. Since part of the structure of this dynamical extension can be arbitrarily chosen, it is also possible to drive the state of the system on the constraint and to clearly obtain the dynamical behavior that the constraint de?nes. If a proper variable structure dynamical extension is chosen, it is possible to achieve a sliding-mode like behavior that can be suitable to some energetic considerations.

KW - Hamiltonian systems

KW - Sliding mode

KW - Casimir functions

KW - Constrained dynamics

KW - 22/4 OA procedure

U2 - 10.3182/20020721-6-ES-1901.00252

DO - 10.3182/20020721-6-ES-1901.00252

M3 - Conference article

SN - 1474-6670

VL - 35

SP - 13

EP - 18

JO - IFAC proceedings volumes

JF - IFAC proceedings volumes

IS - 1

T2 - 15th IFAC World Congress 2002

Y2 - 21 July 2002 through 26 July 2002

ER -

Considerations on the zero-dynamics of port Hamiltonian systems and application to passive implementation of sliding-mode control

Abstract

Keywords

Access to Document

Fingerprint

Cite this