Adaptive H∞control of uncertain port-controlled Hamiltonian systems subject to actuator saturation
2011 (English)In: Proceedings of the 30th Chinese Control Conference, CCC 2011, 2011, 391-396 p.Conference paper (Refereed)
This paper deals with the problem of adaptive control of uncertain nonlinear port-controlled Hamiltonian systems subject to actuator saturation, and proposes a number of results on the control design. Firstly, an adaptive H∞ control design approach is presented by using both the dissipative Hamiltonian structural and saturated actuator properties for the case that there are both parametric uncertainties and external disturbances in the AS systems. Secondly, the results obtained for Hamiltonian systems are applied to adaptive control for a class of uncertain nonlinear affine systems subject to actuator saturation, and several interesting results are obtained. Finally, study of an example of power systems with simulations shows that the adaptive controller proposed in this paper is effective.
Place, publisher, year, edition, pages
2011. 391-396 p.
, Proceedings of the 30th Chinese Control Conference, CCC 2011
Actuator saturation, Adaptive H ∞ control, Nonlinear system, PCH system, Actuator saturations, Adaptive Control, Adaptive controllers, Control design, External disturbances, Hamiltonian systems, Nonlinear affine system, Parametric uncertainties, Port-controlled hamiltonian systems, Actuators, Adaptive control systems, Control, Flexible manipulators, Nonlinear systems, Hamiltonians
Control Engineering Robotics
IdentifiersURN: urn:nbn:se:kth:diva-150747ISI: 000312652100075ScopusID: 2-s2.0-80053073976ISBN: 9789881725592OAI: oai:DiVA.org:kth-150747DiVA: diva2:745040
30th Chinese Control Conference, CCC 2011, 22 July 2011 through 24 July 2011, Yantai
QC 201409092014-09-092014-09-092014-09-09Bibliographically approved