基于Casimir的耗散障碍控制
Casimir-Based Control Beyond the Dissipation Obstacle
摘要：
端口-哈密顿系统镇定的一个流行趋势是假设对象和控制器都是无源的。在基于Casimir函数生成的互连控制的标准方法中，这种假设导致耗散障碍，这实质上意味着耗散仅在不需要成形的闭环哈密顿量的坐标上是允许的，从而严重限制了应用范围。在这方面的贡献，我们表明，我们可以很容易地超越耗散障碍，允许控制器有一个负半定电阻结构，同时保证闭环和控制器的稳定性。
英文摘要：
A prevailing trend in the stabilization of port-Hamiltonian systems is the assumption that the plant and the controller are both passive. In the standard approach of control by interconnection based on the generation of Casimir functions, this assumption leads to the dissipation obstacle, which essentially means that dissipation is admissible only on the coordinates of the closed-loop Hamiltonian that do not require shaping and thus severely restricts the scope of applications. In this contribution, we show that we can easily go beyond the dissipation obstacle by allowing the controller to have a negative semi-definite resistive structure, while guaranteeing stability of both the closed-loop and the controller.
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