Estimating and enlarging the domain of attraction in IDA-PBC

Kloiber, Tobias; Kotyczka, Paul

doi:10.1109/cdc.2012.6426473

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Domain Of Attraction1

On the Practical Implementation Of The Tuning Rules1

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Cited by 6 publications

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“…Therefore, in this section we provide an estimate of how far the trajectories of the nonlinear system can be from the equilibrium point and still converge. In general, estimating the domain of attraction by using H(q, p) as the Lyapunov candidate is a difficult task (see Kloiber and Kotyczka (2012) for a estimation algorithm). For this extended abstract, we use a simpler method to estimate the domain as explained in Khalil (2013).…”

Section: Domain Of Attractionmentioning

confidence: 99%

Tuning Rules for a Class of Port-Hamiltonian Mechanical Systems

Chan-Zheng,

Borja,

Scherpen

2020

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In this extended abstract, we propose a tuning approach for nonlinear mechanical systems to modify the behavior of the closed-loop system, where we are particularly interested in attenuating oscillations from the transient response. Towards this end, we inject damping into the system, and we provide two tuning methods to select the gains that are appropriate for our purposes. Furthermore, we apply these tuning rules to a 2DoF planar manipulator and present its simulation results.

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Section: Domain Of Attractionmentioning

confidence: 99%

Tuning Rules for a Class of Port-Hamiltonian Mechanical Systems

Chan-Zheng,

Borja,

Scherpen

2020

Preprint

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“…A method to estimate such a region consists of using the tools designed to estimate the region of attraction of the equilibrium of stable linearized systems. For further details, see [43] or [89].…”

Section: On the Practical Implementation Of The Tuning Rulesmentioning

confidence: 99%