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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

2023-03-10

Publication Title

IEEE Transactions on Control Systems Technology

First Page

1

Last Page

15

ISSN

1063-6536

Embargo Period

2023-04-21

Organisational Unit

School of Engineering, Computing and Mathematics

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