Sampled data systems passivity and discrete port-Hamiltonian systems

Stramigioli, Stefano; Secchi, Cristian; Schaft, A.J. van der; Fantuzzi, Cesare

doi:10.1109/tro.2004.842330

Cited by 170 publications

(180 citation statements)

References 30 publications

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“…Additionally, we present a corollary for transforming a continuous-time conic single-input, single-output (SISO) linear time-invariant (LTI) system into a discretetime conic SISO LTI system using the IPESH-Transform. We begin by recalling the definition for the IPESH which is based on the earlier work of [25], [26].…”

Section: Conic Digital Filtersmentioning

confidence: 99%

Multi-rate networked control of conic (dissipative) systems

Kottenstette

LeBlanc

Eyisi

et al. 2011

Proceedings of the 2011 American Control Conference

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Abstract-This paper presents a novel multi-rate digitalcontrol system which preserves stability while providing robustness to time-delay and data loss. In addition, this architecture allows for high-order anti-aliasing filters to be included which do not adversely affect system stability. Therefore, it allows for improved noise-rejection and system performance as compared to traditional digital control systems. It is shown that this framework, based on passivity-based networked control principles, can be used to control not only passive-(dissipative) systems (systems inside the sector [0, ∞]) but conic-(dissipative) systems which are inside the sector [a, b] We demonstrate the applicability of our result through the direct position control of a single-degree of freedom haptic paddle which is inside the sector [−τ, ∞] in which 0 < τ < ∞.

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Section: Conic Digital Filtersmentioning

confidence: 99%

Multi-rate networked control of conic (dissipative) systems

Kottenstette

LeBlanc

Eyisi

et al. 2011

Proceedings of the 2011 American Control Conference

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“…It is of future interest to implement an observer for the plant-subsystem in order to preserve dissipative properties in the discrete-time setting [12]. Such an observer set-up could potentially lead to a one-to-one mapping between the continuous-time and discrete-time implementation in regards to satisfying discretetime stability for a given set of gain constraints.…”

Section: Discrete-time Implementationmentioning

confidence: 99%

Discrete-time IDA-passivity based control of coupled tank processes subject to actuator saturation

Kottenstette

Porter

Karsai

et al. 2010

2010 3rd International Symposium on Resilient Control Systems

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Abstract-Interconnection damping assignment passivity based control (IDA-PBC) is an emerging control design method which allows an engineer to systematically design an advanced controller for complex non-linear systems. As a result specific gain ranges can be determined which can prevent an operator (adversary) from accidentally (maliciously) setting control gains which could potentially destabilize the system. However in order to generate the controller the engineer will have to resort to using symbolic numerical solvers in order to complete the design. This can be both a cumbersome and error-prone task which can be automated. We present initial results of a tool which simplifies IDA-PBC. In addition many fluid control problems posses tight operating regions in which pumps degrade over time. As a result actuator saturation may occur for given set-point profiles which will lead to integrator wind-up and more oscillatory behavior. We provide a non-linear anti-windup control-law which greatly improves system resilience to such degradation. Finally we demonstrate that IDA-PBC works reasonably well for moderately large sampling times by simply applying the bilinear transform to approximate any additional (non-linear) integral control terms.

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“…In Secchi et al (2006), part of the energy dissipated by the port-Hamiltonian controller at the slave side has been stored and the interconnection structure of the controller has been modified in order to exploit the stored energy for compensating the steady state position error arising during contact tasks. In Stramigioli et al (2005); Secchi et al (2007) discrete scattering is used to build a control scheme for telemanipulation of port-Hamiltonian systems over a packet switched communication network (e.g. Internet).…”

Section: Introductionmentioning

confidence: 99%

“…This kind of networks is unreliable and it can happen that some packets can be lost during the communication. In Stramigioli et al (2005) a strategy for dealing with the loss of packets while preserving a passive behavior of the communication channel has been proposed: when a packet is not received either at the master or at the slave side, it is replaced with a null packet. Using this strategy, the loss of a packet corresponds to some energy dissipation and, therefore, the communication channel becomes a strictly passive system.…”

Section: Introductionmentioning

confidence: 99%

Compensation of position errors in passivity based teleoperation over packet switched communication networks

Secchi

Fantuzzi

2008

IFAC Proceedings Volumes

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Abstract:Because of the use of scattering based communication channels, passivity based telemanipulation systems can be subject to a steady state position error between master and slave robots. In this paper, we consider the case in which the passive master and slave sides communicate through a packet switched communication channel (e.g. Internet) and we provide a modification of the slave impedance controller for compensating the steady state position error arising in free motion because of packets loss.

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Sampled data systems passivity and discrete port-Hamiltonian systems

Cited by 170 publications

References 30 publications

Multi-rate networked control of conic (dissipative) systems

Multi-rate networked control of conic (dissipative) systems

Discrete-time IDA-passivity based control of coupled tank processes subject to actuator saturation

Compensation of position errors in passivity based teleoperation over packet switched communication networks

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