文章基本信息

标题：Passivity-Based Control of Sampled-Data Systems on Lie Groups with Linear Outputs * * This research is supported by the Natural Sciences and Engineering Research Council of Canada (NSERC).
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作者：Philip James McCarthy ; Philip James McCarthy ; Christopher Nielsen 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2016
卷号：49
期号：18
页码：1006-1011
DOI：10.1016/j.ifacol.2016.10.299
语种：English
出版社：Elsevier
摘要：Abstract: We present a method of stabilizing a sampled-data system that evolves on a matrix Lie group using passivity The continuous-time plant is assumed passive with known storage function, and its passivity is preserved under sampling by redefining the output of the discretized plant and keeping the storage function. We show that driftlessness is a necessary condition for a sampled-data system on a matrix Lie group to be zero-state observable. The closed-loop sampled-data system is stabilized by any strictly passive controller, and we present a synthesis procedure for a strictly positive real LTI controller. The closed-loop system is shown to be asymptotically stable. This stabilization method is applied to asymptotic tracking of piecewise constant references.
关键词：Keywordsnonlinear controldiscrete-time systemsstabilizationLie groupspassivity