Abstract:
In this paper, we develop an energy-based static and dynamic control framework for stochastic port-controlled Hamiltonian systems. In particular, we obtain constructive s...Show MoreMetadata
Abstract:
In this paper, we develop an energy-based static and dynamic control framework for stochastic port-controlled Hamiltonian systems. In particular, we obtain constructive sufficient conditions for stochastic feedback stabilization that provide a shaped energy function for the closed-loop system while preserving a Hamiltonian structure at the closed-loop level. In the dynamic control case, energy shaping is achieved by combining the physical energy of the plant and the emulated energy of the controller.
Published in: 2018 Annual American Control Conference (ACC)
Date of Conference: 27-29 June 2018
Date Added to IEEE Xplore: 16 August 2018
ISBN Information:
Electronic ISSN: 2378-5861