Discrete-time I&I adaptive control for a class of uncertain port-controlled hamiltonian systems

Mohammed Alkrunz; Yaprak Yalcin

doi:10.1109/ICEEE2019.2019.00047

Discrete-time I&I adaptive control for a class of uncertain port-controlled hamiltonian systems

Mohammed Alkrunz, Yaprak Yalcin

Department of Control and Automation Engineering

Istanbul Technical University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In this paper, we presented a discrete-time adaptive Passivity Based Control (PBC) for linearly parametrized port-controlled Hamiltonian systems with additive uncertainty. For the parameter estimation we exploited the Immersion and Invariance approach to achieve an automatic tuning for the designed PBC controller. The locally asymptotic stability of the closed loop system under PBC control with proposed parameter estimator is shown using Lyapunov theory. Simulations are carried out to test performance of proposed adaptive control method. Results illustrates that the estimator successfully estimates the uncertain parameters and the PBC utilizing this parameters stabilizes the closed loop system and preserve the performance of certainty equivalent controller.

Original language	English
Title of host publication	Proceedings - 2019 6th International Conference on Electrical and Electronics Engineering, ICEEE 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	207-214
Number of pages	8
ISBN (Electronic)	9781728139104
DOIs	https://doi.org/10.1109/ICEEE2019.2019.00047
Publication status	Published - Apr 2019
Event	6th International Conference on Electrical and Electronics Engineering, ICEEE 2019 - Istanbul, Turkey Duration: 16 Apr 2019 → 17 Apr 2019

Publication series

Name	Proceedings - 2019 6th International Conference on Electrical and Electronics Engineering, ICEEE 2019

Conference

Conference	6th International Conference on Electrical and Electronics Engineering, ICEEE 2019
Country/Territory	Turkey
City	Istanbul
Period	16/04/19 → 17/04/19

Bibliographical note

Publisher Copyright:
© 2019 IEEE.

Keywords

Immersion and invariance
Non-linear system
PBC
Port controlled Hamiltonian system

Access to Document

10.1109/ICEEE2019.2019.00047

Cite this

Alkrunz, M., & Yalcin, Y. (2019). Discrete-time I&I adaptive control for a class of uncertain port-controlled hamiltonian systems. In Proceedings - 2019 6th International Conference on Electrical and Electronics Engineering, ICEEE 2019 (pp. 207-214). Article 8792525 (Proceedings - 2019 6th International Conference on Electrical and Electronics Engineering, ICEEE 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICEEE2019.2019.00047

Alkrunz, Mohammed ; Yalcin, Yaprak. / Discrete-time I&I adaptive control for a class of uncertain port-controlled hamiltonian systems. Proceedings - 2019 6th International Conference on Electrical and Electronics Engineering, ICEEE 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 207-214 (Proceedings - 2019 6th International Conference on Electrical and Electronics Engineering, ICEEE 2019).

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abstract = "In this paper, we presented a discrete-time adaptive Passivity Based Control (PBC) for linearly parametrized port-controlled Hamiltonian systems with additive uncertainty. For the parameter estimation we exploited the Immersion and Invariance approach to achieve an automatic tuning for the designed PBC controller. The locally asymptotic stability of the closed loop system under PBC control with proposed parameter estimator is shown using Lyapunov theory. Simulations are carried out to test performance of proposed adaptive control method. Results illustrates that the estimator successfully estimates the uncertain parameters and the PBC utilizing this parameters stabilizes the closed loop system and preserve the performance of certainty equivalent controller.",

keywords = "Immersion and invariance, Non-linear system, PBC, Port controlled Hamiltonian system",

author = "Mohammed Alkrunz and Yaprak Yalcin",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 6th International Conference on Electrical and Electronics Engineering, ICEEE 2019 ; Conference date: 16-04-2019 Through 17-04-2019",

year = "2019",

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Alkrunz, M & Yalcin, Y 2019, Discrete-time I&I adaptive control for a class of uncertain port-controlled hamiltonian systems. in Proceedings - 2019 6th International Conference on Electrical and Electronics Engineering, ICEEE 2019., 8792525, Proceedings - 2019 6th International Conference on Electrical and Electronics Engineering, ICEEE 2019, Institute of Electrical and Electronics Engineers Inc., pp. 207-214, 6th International Conference on Electrical and Electronics Engineering, ICEEE 2019, Istanbul, Turkey, 16/04/19. https://doi.org/10.1109/ICEEE2019.2019.00047

Discrete-time I&I adaptive control for a class of uncertain port-controlled hamiltonian systems. / Alkrunz, Mohammed; Yalcin, Yaprak.
Proceedings - 2019 6th International Conference on Electrical and Electronics Engineering, ICEEE 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 207-214 8792525 (Proceedings - 2019 6th International Conference on Electrical and Electronics Engineering, ICEEE 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - In this paper, we presented a discrete-time adaptive Passivity Based Control (PBC) for linearly parametrized port-controlled Hamiltonian systems with additive uncertainty. For the parameter estimation we exploited the Immersion and Invariance approach to achieve an automatic tuning for the designed PBC controller. The locally asymptotic stability of the closed loop system under PBC control with proposed parameter estimator is shown using Lyapunov theory. Simulations are carried out to test performance of proposed adaptive control method. Results illustrates that the estimator successfully estimates the uncertain parameters and the PBC utilizing this parameters stabilizes the closed loop system and preserve the performance of certainty equivalent controller.

AB - In this paper, we presented a discrete-time adaptive Passivity Based Control (PBC) for linearly parametrized port-controlled Hamiltonian systems with additive uncertainty. For the parameter estimation we exploited the Immersion and Invariance approach to achieve an automatic tuning for the designed PBC controller. The locally asymptotic stability of the closed loop system under PBC control with proposed parameter estimator is shown using Lyapunov theory. Simulations are carried out to test performance of proposed adaptive control method. Results illustrates that the estimator successfully estimates the uncertain parameters and the PBC utilizing this parameters stabilizes the closed loop system and preserve the performance of certainty equivalent controller.

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KW - Non-linear system

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KW - Port controlled Hamiltonian system

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Alkrunz M, Yalcin Y. Discrete-time I&I adaptive control for a class of uncertain port-controlled hamiltonian systems. In Proceedings - 2019 6th International Conference on Electrical and Electronics Engineering, ICEEE 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 207-214. 8792525. (Proceedings - 2019 6th International Conference on Electrical and Electronics Engineering, ICEEE 2019). doi: 10.1109/ICEEE2019.2019.00047

Discrete-time I&I adaptive control for a class of uncertain port-controlled hamiltonian systems

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