New Results on Stabilization of Port-Hamiltonian Systems via PID Passivity-Based Control
New Results on Stabilization of Port-Hamiltonian Systems via PID Passivity-Based Control
复制标题
通过基于 PID 无源控制的哈密尔顿港系统稳定的新结果
DOI：
10.1109/tac.2020.2986731
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发表时间：
2021
影响因子：
6.8
通讯作者：
J. Scherpen
中科院分区：
文献类型：
--
作者：
P. Borja;R. Ortega;J. Scherpen
在这篇文章中，我们给出了一些新的结果，用于端口-哈密顿(PH)系统的调节的基于无源性的控制器(PBCS)的设计。本文的主要贡献是：(I)本设计所要求的偏微分方程显式解的新的代数条件；(Ii)揭示了耗散障碍的有害影响，该障碍限制了标准的PID-PBC在非扩散耗散系统中的应用；(Iii)提出了一种新的由两个无源输出产生的新的PID-PBC，一个相对次数为0，另一个相对次数为1。第一个输出确保了PID-PBC不受耗散障碍的阻碍，而第二个无源输出的相对程度允许包含导数项。使程序更具建设性，消除了对耗散的要求，极大地扩展了PID-PBC的应用领域。此外，允许向控制添加导数项的可能性，增强了其暂态性能。
In this article, we present some new results for the design of PID passivity-based controllers (PBCs) for the regulation of port-Hamiltonian (pH) systems. The main contributions of this article are: (i) new algebraic conditions for the explicit solution of the partial differential equation required in this design; (ii) revealing the deleterious impact of the dissipation obstacle that limits the application of the standard PID-PBC to systems without pervasive dissipation; (iii) the proposal of a new PID-PBC which is generated by two passive outputs, one with relative degree zero and the other with relative degree one. The first output ensures that the PID-PBC is not hindered by the dissipation obstacle, while the relative degree of the second passive output allows the inclusion of a derivative term. Making the procedure more constructive and removing the requirement on the dissipation significantly extends the realm of application of PID-PBC. Moreover, allowing the possibility of adding a derivative term to the control, enhances its transient performance.