Energy-based control for hybrid port-controlled Hamiltonian systems.

In this paper we develop an energy-based hybrid control framework for hybrid port-controlled Hamiltonian systems. In particular, we obtain constructive su6cient conditions for hybrid feedback stabilization that provide a shaped energy function for the closed-loop system, while preserving a hybrid Hamiltonian structure at the closed-loop level. Furthermore, an inverse optimal hybrid feedback control framework is developed that characterizes a class of globally stabilizing energy-based controllers that guarantee hybrid sector and gain margins to multiplicative input uncertainty of hybrid Hamiltonian systems.

Main Author: Haddad, Wassim.
Other Authors: Nersesov, Sergey., Chellaboina, VijaySekhar.
Format: Villanova Faculty Authorship
Language: English
Published: 2003
Online Access: