Passivity-Based Control of Switched Nonlinear Systems
نویسندگان
چکیده
Zusammenfassung Es wird eine konstruktive Reglerentwurfsmethode für schaltende nichtlineare steuerungssaffine Systeme vorgestellt, die dem geschlossenen Regelkreis eine schaltende Port-Hamiltonsche Struktur mit gemeinsamer Energiefunktion zuweist und so (asymptotische) Stabilität der Ruhelage erzielt. Die Methode generiert alle schaltenden Zustandsrückführungen, welche die Strecke unter beliebigem Schalten asymptotisch stabilisieren. Für eine spezielle Systemklasse wird ein systematisches Vorgehen für den Reglerentwurf präsentiert. Dabei wird ein neues Ergebnis zur Matrixgleichung AX+ XA =Q vorgestellt. Summary A new constructive controller design methodology for switched nonlinear input affine systems is presented which achieves (asymptotic) stabilization of a desired equilibrium point by assigning a switched port-controlled Hamiltonian structure with common energy function to the closed-loop system. The proposed method generates all switching state feedback laws that asymptotically stabilize the system under arbitrary switching. For a special class of systems a systematic procedure for the controller design is proposed. In this context, a new result on the matrix equation AX+XA = Q is presented.
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