Structure Preserving Observer Design for Port-Hamiltonian Systems

Yaghmaei, Abolfazl; Yazdanpanah, Mohammad Javad

doi:10.1109/tac.2018.2847904

Cited by 30 publications

(31 citation statements)

References 18 publications

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“…The objective of this paper is to propose an output feedback controller for . In this regard, it will be shown that, one can use the observer of the work of Yaghmaei and Yazdanpanah to estimate the states of and then use this estimation in the controller of the work of Yaghmaei and Yazdanpanah, instead of real states, with guaranteed stability. In other words, suppose that Yaghmaei and Yazdanpanah propose an stabilizing controller such as u ( x ) for , it will be shown that

u false(\overset{x}{true} false)

, in which the

\overset{x}{true}

is obtained from an observer designed via the method of their other work, stabilizes in the same way.…”

Section: Preliminariesmentioning

confidence: 99%

“…The notion of contractive port‐Hamiltonian systems can be used for other control objectives, eg, observer design, which is done in the work of Yaghmaei and Yazdanpanah . The term structure preserving indicates that, for a port‐Hamiltonian system, the observer dynamic is a contractive port‐Hamiltonian system.…”

Section: Contractive Port‐hamiltonian Systemsmentioning

confidence: 99%

“…Recently, introducing the notion of contractive port‐Hamiltonian systems in the work of Yaghmaei and Yazdanpanah has paved the way for using IDA‐PBC for tracking purposes. On the other hand, this notion can be used for observer design of port‐Hamiltonian systems as shown in the work of Yaghmaei and Yazdanpanah . The proposed observer of the aforementioned work due to its interesting properties can be considered as a dual of IDA‐PBC for observer design.…”

Section: Introductionmentioning

confidence: 99%

“…On the other hand, this notion can be used for observer design of port‐Hamiltonian systems as shown in the work of Yaghmaei and Yazdanpanah . The proposed observer of the aforementioned work due to its interesting properties can be considered as a dual of IDA‐PBC for observer design. One of these properties is that the dynamics of observer for a port‐Hamiltonian system is again a port‐Hamiltonian system, the fact, which causes the method to be called structure preserving.…”

Section: Introductionmentioning

confidence: 99%

“…One of these properties is that the dynamics of observer for a port‐Hamiltonian system is again a port‐Hamiltonian system, the fact, which causes the method to be called structure preserving. Simply, the contribution of this paper is to show that the combination of the works of Yaghmaei and Yazdanpanah results in an output feedback controller for a class of port‐Hamiltonian systems. In other words, it is possible to use the estimation of states, obtained via the observer of the aforementioned work in the controller of the work of Yaghmaei and Yazdanpanah instead of real stats with guaranteed stability.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Output control design and separation principle for a class of port‐Hamiltonian systems

Yaghmaei

Yazdanpanah

2018

Intl J Robust & Nonlinear

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Using a structure preserving observer, a dynamic output controller is proposed for a class of port-Hamiltonian systems. The core of this method is based on the notion of contractive port-Hamiltonian systems. The proposed method utilizes an extended form of IDA-PBC (interconnection and damping assignment passivity-based control), a well-known controller design method for port-Hamiltonian systems and paves the way for using IDA-PBC in output control design of challenging control objectives, such as output tracking for underactuated mechanical systems. In the line of output control design, a useful separation principle for a class of port-Hamiltonian systems is achieved, which is valuable in the field of nonlinear systems. Some simulations on magnetic levitation and ball on wheel testbeds show the potency and applicability of the proposed method. KEYWORDSoutput control, port-Hamiltonian systems, structure preserving observer, underactuated mechanical systems Int J Robust Nonlinear Control. 2019;29:867-881. wileyonlinelibrary.com/journal/rnc © 2018 John Wiley & Sons, Ltd. 867 868 YAGHMAEI AND YAZDANPANAHof system structure may obstruct controller design process for underactuated and nonminimum phase systems. The alternate framework is to use and respect nonlinearity in an appropriate way. The passivity-based methods are located in the core of this framework; see the work of Ortega et al 10 as an example for using passivity in output feedback control design. Concept of passivity is highly related to the concept of energy in physical systems. Therefore, an energy-based modeling can gain from the passivity-based methods. Port-Hamiltonian framework is a witness of this fact, which uses and extends the passivity-based methods. Port-Hamiltonian systems consist of a structure, called Dirac structure, which represents the route of energy exchange within the system and with the environment. Another ingredient of these systems is their resistive structure, which models the dynamic behavior of energy dissipative elements of the system. The main component of these systems is their energy function, which is called Hamiltonian. This transparency provides some powerful tools for controller design such as IDA-PBC (interconnection and damping assignment passivity-based control). [11][12][13] Recently, introducing the notion of contractive port-Hamiltonian systems in the work of Yaghmaei and Yazdanpanah 14 has paved the way for using IDA-PBC for tracking purposes. On the other hand, this notion can be used for observer design of port-Hamiltonian systems as shown in the work of Yaghmaei and Yazdanpanah. 15 The proposed observer of the aforementioned work 15 due to its interesting properties can be considered as a dual of IDA-PBC for observer design. One of these properties is that the dynamics of observer for a port-Hamiltonian system is again a port-Hamiltonian system, the fact, which causes the method to be called structure preserving. Simply, the contribution of this paper is to show that the combination of the works of Yaghmaei and...

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u false(\overset{x}{true} false)

, in which the

\overset{x}{true}

is obtained from an observer designed via the method of their other work, stabilizes in the same way.…”

Section: Preliminariesmentioning

confidence: 99%

Section: Contractive Port‐hamiltonian Systemsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Output control design and separation principle for a class of port‐Hamiltonian systems

Yaghmaei

Yazdanpanah

2018

Intl J Robust & Nonlinear

Self Cite

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show abstract

Observer design for a class of nonlinear systems combining dissipativity with interconnection and damping assignment

Biedermann

Meurer

2021

Intl J Robust & Nonlinear

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A nonlinear observer design approach is proposed that exploits and combines port‐Hamiltonian systems and dissipativity theory. First, a passivity‐based observer design using interconnection and damping assignment for time variant state affine systems is presented by applying output injection to the system such that the observer error dynamics takes a port‐Hamiltonian structure. The stability of the observer error system is assured by exploiting its passivity properties. Second, this setup is extended to develop an observer design approach for a class of systems with a time varying state affine forward and a nonlinear feedback contribution. For a class of nonlinear systems, the theory of dissipative observers is adapted and combined with the results for the passivity‐based observer design using interconnection and damping assignment. The convergence of the compound observer design is determined by a linear matrix inequality. The performance of both observer approaches is analyzed in simulation examples.

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Asymptotic stability of port-hamiltonian systems with constant inputs

Liu

2021

Control Theory Technol.

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Structure Preserving Observer Design for Port-Hamiltonian Systems

Cited by 30 publications

References 18 publications

Output control design and separation principle for a class of port‐Hamiltonian systems

Output control design and separation principle for a class of port‐Hamiltonian systems

Observer design for a class of nonlinear systems combining dissipativity with interconnection and damping assignment

Asymptotic stability of port-hamiltonian systems with constant inputs

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