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

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

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    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 languageUndefined
    Title of host publicationProceedings of the 15th IFAC World Congress
    EditorsE.F. Camacho, L. Basanez, J.A. de la Puente
    Place of PublicationBarcelona (Spain)
    Number of pages6
    ISBN (Print)978-0-08-044295-2
    Publication statusPublished - 2002
    Event15th IFAC World Congress 2002 - Barcelona, Spain
    Duration: 21 Jul 200226 Jul 2002
    Conference number: 15

    Publication series



    Conference15th IFAC World Congress 2002
    Internet address


    • METIS-207659
    • Hamiltonian systems
    • Sliding mode
    • EWI-16735
    • Casimir functions
    • Constrained dynamics
    • IR-69137

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