ORCID
- Pablo Borja: 0000-0001-7744-0846
Abstract
Interconnection and damping assignment (IDA) is a popular passivity-based control (PBC) technique. This nonlinear control approach has proven suitable for stabilizing a wide range of systems. However, like many other nonlinear control techniques, implementing the IDA-PBC approach is often hampered by the necessity of solving partial differential equations (PDEs). This paper studies systems for which the solutions to these equations are always guaranteed, and closed-form solutions are known. To this end, we provide straightforwardly verifiable conditions over the open-loop system such that IDA-PBC can be applied without solving PDEs.
DOI Link
Publication Date
2024-04-10
Event
14th UKACC International Conference on Control, CONTROL 2024
Publication Title
2024 UKACC 14th International Conference on Control, CONTROL 2024
Publisher
Institute of Electrical and Electronics Engineers Inc.
ISBN
9798350374261, 2766-6522
Acceptance Date
2024-01-11
Deposit Date
2024-08-21
Additional Links
First Page
131
Last Page
136
Recommended Citation
Borja, P. (2024) 'Interconnection and Damping Assignment Passivity-Based Control Without Partial Differential Equations', 2024 UKACC 14th International Conference on Control, CONTROL 2024, , pp. 131-136. Institute of Electrical and Electronics Engineers Inc.: Available at: 10.1109/control60310.2024.10532055
