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Erschienen in:
A Port-Hamiltonian Formulation of a Wireless Communication System Kapitel lesen Erstes Kapitel lesen

2015 | OriginalPaper | Buchkapitel

2. Dirac Structures and Control by Interconnection for Distributed Port-Hamiltonian Systems

verfasst von : Alessandro Macchelli

Erschienen in: Mathematical Control Theory I

Verlag: Springer International Publishing

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Abstract

The aim of this work is to show how the Dirac structure properties can be exploited in the development of energy-based boundary control laws for distributed port-Hamiltonian systems. Stabilisation of non-zero equilibria has been achieved by looking at, or generating, a set of structural invariants, namely Casimir functions, in closed-loop, and geometric conditions for the problem to be solved are determined. However, it is well known that this method fails when an infinite amount of energy is required at the equilibrium (dissipation obstacle). So, a novel approach that enlarges the class of stabilising controllers within the control by interconnection paradigm is also discussed. In this respect, it is shown how to determine a different control port that is instrumental for removing the intrinsic constraints imposed by the dissipative structure of the system. The general theory is illustrated with the help of two related examples, namely the boundary stabilisation of the shallow water equation with and without distributed dissipation.

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Vorheriges Kapitel A Port-Hamiltonian Formulation of a Wireless Communication System
Nächstes Kapitel Energy-Aware Robotics
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Metadaten
Titel
Dirac Structures and Control by Interconnection for Distributed Port-Hamiltonian Systems
verfasst von
Alessandro Macchelli
Copyright-Jahr
2015
Buch
Mathematical Control Theory I

Print ISBN: 978-3-319-20987-6

Electronic ISBN: 978-3-319-20988-3

Copyright-Jahr: 2015

DOI
https://doi.org/10.1007/978-3-319-20988-3_2

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