Energy-Balance PBC of nonlinear dynamics under sampling and delays - Archive ouverte HAL
Communication Dans Un Congrès Année : 2022

Energy-Balance PBC of nonlinear dynamics under sampling and delays

Résumé

The paper provides a new class of passivity-based controllers (PBCs) for stabilizing sampled-data input-delayed dynamics at a desired equilibrium via energy-balancing (EB) and reduction. Given a nonlinear dynamics under piecewise constant and retarded input, we first exhibit a new dynamics (the reduced dynamics) that is free of delays and equivalent to the original one. Accordingly, we design the digital controller assigning a suitable energetic behaviour to the reduced delay-free model with a stable target equilibrium. Then, it is proved that such a controller solves the EB-PBC problem on the original retarded system. The results are illustrated over a simple mechanical system.
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Dates et versions

hal-04228060 , version 1 (04-10-2023)

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Mattia Mattioni, Salvatore Monaco, Dorothée Normand-Cyrot. Energy-Balance PBC of nonlinear dynamics under sampling and delays. TDS 2022 - 17th IFAC Workshop on Time Delay Systems, IFAC, Sep 2022, Montreal, Canada. pp.264-269, ⟨10.1016/j.ifacol.2022.11.368⟩. ⟨hal-04228060⟩
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