ORCID
- Borja, Pablo: 0000-0001-7744-0846
Abstract
This article provides a constructive passivity-based control (PBC) approach to solve the set-point regulation problem for input-affine continuous nonlinear systems while considering bounded inputs. As customary in PBC, the methodology consists of two steps: energy shaping and damping injection. In terms of applicability, the proposed controllers have two advantages concerning other PBC techniques: 1) the energy shaping is carried out without solving partial differential equations and 2) the damping injection is performed without measuring the passive output. As a result, the proposed methodology is suitable to control a broad range of physical systems, e.g., mechanical, electrical, and electromechanical systems, with saturated control signals. We illustrate the applicability of the technique by designing controllers for systems in different physical domains, where we validate the analytical results via simulations and experiments.
DOI
10.1109/tcst.2023.3259243
Publication Date
2023-04-11
Publication Title
IEEE Transactions on Control Systems Technology
ISSN
1063-6536
Embargo Period
2023-04-21
Organisational Unit
School of Engineering, Computing and Mathematics
First Page
1
Last Page
15
Recommended Citation
Borja, P., Chan-Zheng, C., & Scherpen, J. (2023) 'Stabilization of Physical Systems via Saturated Controllers With Partial State Measurements', IEEE Transactions on Control Systems Technology, , pp. 1-15. Available at: https://doi.org/10.1109/tcst.2023.3259243
