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Article Dans Une Revue Automatica Année : 2022

Discrete-time energy-balance passivity-based control

Résumé

In this paper, new results for passivation and stabilization of discrete-time nonlinear systems via energy balancing are established. When specified on sampled-data systems, the approach is constructive for computing stabilizing digital controllers that assign, at all sampling instants, a target energy profile while stabilizing a target equilibrium. The class of mechanical systems is discussed as an example. Simulations are reported highlighting, for position regulation of a 2R robot, the effect of approximate solutions with respect to standard emulation.
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hal-04227942 , version 1 (04-10-2023)

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Mattia Mattioni, Alessio Moreschini, Salvatore Monaco, Dorothée Normand-Cyrot. Discrete-time energy-balance passivity-based control. Automatica, 2022, 146, pp.110662. ⟨10.1016/j.automatica.2022.110662⟩. ⟨hal-04227942⟩
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