Benutzer: Gast  Login
Titel:

Parametrization of IDA-PBC by Assignment of Local Linear Dynamics

Dokumenttyp:
Konferenzbeitrag
Art des Konferenzbeitrags:
Textbeitrag / Aufsatz
Autor(en):
Kotyczka, P.; Lohmann, B.
Seitenangaben Beitrag:
pp. 4721-4726
Kapitel Beitrag:
Article number 7075146
Abstract:
In this paper the open problem of finding a suitable parametrization for Interconnection and Damping Assignment Passivity Based Control (IDA-PBC) is addressed. IDA-PBC is motivated by the physical notion of storage, exchange and dissipation of energy. However, interconnection and damping matrices are fixed before the closed loop energy is determined. The interdependence of design parameters and energy impedes an a priori assessment of closed loop dynamics. We propose a systematic reduction of th...     »
Stichworte:
Control; Contzrollers; damping assignment; nonlinear control; passivity based control; port-Hamiltonian systems
Dewey-Dezimalklassifikation:
620 Ingenieurwissenschaften
Kongress- / Buchtitel:
Proceedings of the European Control Conference (ECC)
Konferenzort:
Budapest, Hungary
Datum der Konferenz:
23.-26.8.2009
Verlag / Institution:
Institute of Electrical and Electronics Engineers Inc.
Jahr:
2009
Jahr / Monat:
2009-08
Monat:
Aug
Nachgewiesen in:
Web of Science
Print-ISBN:
978-395241739-3
Reviewed:
ja
Sprache:
en
Volltext / DOI:
doi:10.23919/ECC.2009.7075146
WWW:
https://ieeexplore.ieee.org/abstract/document/7075146/
TUM Einrichtung:
Lehrstuhl für Regelungstechnik
 BibTeX