A passivity based sliding mode controller for simple port-hamiltonian systems

Title: A passivity based sliding mode controller for simple port-hamiltonian systems
Creator: Fujimoto, Kenji; Sakata, Naoki; Maruta, Ichiro; Ferguson, Joel
Relation: IEEE Control Systems Letters Vol. 5, Issue 3, p. 839-844
Publisher Link: http://dx.doi.org/10.1109/LCSYS.2020.3005327
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Resource Type: journal article
Date: 2021
Description: This letter proposes a novel framework to design a passivity based sliding mode controller for mechanical systems described by simple port-Hamiltonian systems. For this class of systems, passivity based control is often used to design a stabilizing controller which employs a physical energy of the plant system as a Lyapunov function candidate. This letter proves that there exist a special class of passivity based controllers which coincide with sliding mode ones. This approach enables us to obtain sliding mode control systems with explicit energy based Lyapunov functions. The proposed approach requires a kind of matching condition under which the two control schemes coincide with each other. How to relax the condition is also discussed. Furthermore, a numerical example demonstrates how the proposed method works.
Subject: variable-structure/sliding-mode control; Lyapunov methods; stability of nonlinear systems
Identifier: http://hdl.handle.net/1959.13/1461803
Identifier: uon:46302
Identifier: ISSN:2475-1456
Language: eng
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