On universal stabilization property of Interconnection and Damping Assignment Control

It is well-known that the widely popular Interconnection and Damping Assignment Passivity-based Control (IDA-PBC) is “universally stabilizing”, in the sense that it generates all asymptotically stabilizing controllers for general nonlinear systems of the form ẋ=f(x,u). Unfortunately, the proof of t...

Full description

Saved in:
Bibliographic Details
Published in:Automatica (Oxford) 2020-09, Vol.119, p.109087, Article 109087
Main Authors: Wu, Dongjun, Ortega, Romeo, Duan, Guangren
Format: Article
Language:English
Subjects:
Engineering Sciences
Nonlinear systems
Passivity
Passivity-based control
Stabilization
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:It is well-known that the widely popular Interconnection and Damping Assignment Passivity-based Control (IDA-PBC) is “universally stabilizing”, in the sense that it generates all asymptotically stabilizing controllers for general nonlinear systems of the form ẋ=f(x,u). Unfortunately, the proof of this fact relies in the construction of a control law that is not globally defined. Although a standard regularization procedure may be used to enforce the required smoothness properties to the control signal, this procedure is quite technical and not constructive. To overcome this problem we provide an alternative construction that yields a continuous IDA-PBC law.
ISSN:0005-1098
1873-2836
DOI:10.1016/j.automatica.2020.109087