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Date de publication : Sep 23, 2015 1:15:28 PM
Date: 15 October 2015, 14h00
Location: INSA, Laboratoire AMPERE
Speaker: Paul Kotyczka, Technische Universität Münschen, Germany
Title: Local linear dynamics assignment – a technique for controller parametrization in passivity based control
Abstract: Energy based control design techniques, which either exploit the physical structure of a dynamical system or try to impose a physically inspired form of the differential equations have been discussed for the last 20 years. The central arguments in these methods are the shaping of an (artificial) closed-loop energy and the injection of appropriate damping. Both from the Lagrangian and the Hamiltonian point of view, a variety of – generically nonlinear – approaches for stabilization and regulation has been developed, either using dynamic output feedback with closed-loop invariants (Casimir functions) or a full state feedback. Being conceptually intuitive, a major difficulty in energy based control designs is the transparent choice of design parameters to achieve desired transient behavior. In this talk, a solution to cope with this problem is presented in the context of the Interconnection and Damping Assignment Passivity Based Control (IDA-PBC) method for state feedback of finite-dimensional systems. The free parameters in the physically inspired interconnection, damping and energy terms are fixed using prescribed dynamics of the closed-loop linearization. Byproducts of the approach are a clear order of the design steps, the classification of different design quantities and the omission of the tedious positivity check of the closed-loop energy function.
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