Algebraic IDA-PBC for Polynomial Systems with Input Saturation: An SOS-based Approach-Reference-Cited by-同舟云学术

Algebraic IDA-PBC for Polynomial Systems with Input Saturation: An SOS-based Approach

Published:2019-01-31 Issue:2 Volume:42 Page:23-30
ISSN:2477-8990
Container-title:Revista Politécnica
language:es
Short-container-title:RP

Author:

Cieza Oscar¹,Reger Johann¹

Affiliation:

1. Technische Universität Ilmenau

Abstract

The necessity to deal with partial differential equations (PDEs) and the dissipation condition are the mainadversities in the application of Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC). Recently,an algebraic solution of IDA-PBC has been explored for a class of affine polynomial systems by using sum of squares(SOS) and semidefinite programming (SDP). In this work, we extend the previous method by incorporating actuatorsaturation (AS) and two minimization objectives in the SDP. Our results are validated on two polynomial systems.

Publisher

Escuela Politecnica Nacional

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