- Title
- Robust integral action of port-Hamiltonian systems
- Creator
- Ferguson, Joel; Donaire, Alejandro; Ortega, Romeo; Middleton, Richard H.
- Relation
- IFAC PapersOnLine. Proceedings of the 6th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2018, Volume 51, Issue 3 (Valparaiso, Chile 01-04 May, 2018) p. 181-186
- Publisher Link
- http://dx.doi.org/10.1016/j.ifacol.2018.06.050
- Publisher
- Elsevier
- Resource Type
- conference paper
- Date
- 2018
- Description
- Interconnection and damping assignment, passivity-based control (IDA-PBC) has proven to be a successful control technique for the stabilisation of many nonlinear systems. In this paper, we propose a method to robustify a system which has been stabilised using IDA-PBC with respect to constant, matched disturbances via the addition of integral action. The proposed controller extends previous work on the topic by being robust against uncertainty in the damping structure of the system, a quantity which may not be known in many applications.
- Subject
- disturbance rejection; Lagrangian and Hamiltonian systems; robust control applications; passivity-based control
- Identifier
- http://hdl.handle.net/1959.13/1430327
- Identifier
- uon:38823
- Identifier
- ISSN:2405-8963
- Rights
- © 2018 the authors. This work has been accepted to IFAC for publication under a Creative Commons Licence CC-BY-NC-ND.
- Language
- eng
- Full Text
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