Control design for linear boundary control systems in port-Hamiltonian form

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• Alessandro Macchelli, University of Bologna
• Wednesday 15 May 2019, 14:00-15:00
• 1109B (CAP seminar room) .

If you have a question about this talk, please contact Giordano Scarciotti.

Abstract: The aim of this talk is to present different control synthesis methodologies for a class of linear boundary control systems (BCS) in port-Hamiltonian form that are dissipative with respect to a quadratic supply rate, being the total energy the storage function. At first, general conditions that a linear regulator has to satisfy to a have a well-posed and exponentially stable closed-loop system are discussed. Such methodology is illustrated with reference to two specific stabilisation scenarios, namely when the (distributed parameter) plant is in impedance or in scattering form. Nevertheless, these techniques can be employed in the analysis of more general systems that are described by coupled partial and ordinary differential equations. As a second contribution, when the BCS is passive, it is shown how to design a state-feedback control action that is able to shape the open-loop energy-function (energy shaping) in order to obtain desired performances in closed-loop, e.g. to move the minimum of the energy at a desired equilibrium configuration. By adding dissipation thanks to a further control loop (damping injection), asymptotic stability is achieved. Finally, by relying on the results presented in the first part of the talk, it is shown how to implement a control action based on the energy-shaping paradigm but now also able to guarantee exponential stability. The key point is the addition of an integral term in the damping injection contribution. In this way, a major limitation of standard energy-shaping plus damping injection control laws applied to linear port-Hamiltonian BCS , namely the fact that only asymptotic convergence is assured, has been removed.

Biography: Alessandro Macchelli took the Laurea Degree cum laude and the PhD in Automatic Control and Operational Research at the University of Bologna (DEIS) in 2000 and 2003. He has been visiting scholar (sponsored by NACO2 ) at the University of Twente in 2001 and Post-Doc in 2003. In 2004, he got a Post-Doc position at the University of Bologna (DEIS), and in 2005, he joined DEIS as assistant professor in robotics and industrial automation. After 2005, he has been visiting professor at the Tongji University in Shanghai, at the Institute of Automatic Control and Control Systems Technology of the Johannes Kepler University Linz, at the National Engineering Institute in Mechanics and Micro–Technologies (FEMTO-ST/AS2M) in Besaçon, and at the Institute of Cyber-Systems & Control of the Zhejiang University in Hangzhou. His research activity is focused on port-Hamiltonian systems, with particular emphasis on modelling, simulation and control of distributed parameter systems, and applications of the port-Hamiltonian framework to robotics and mechatronics. He is currently author of more than 50 journal and conference papers on these topics.

This talk is part of the Control and Power Seminars series.

This talk is included in these lists:

• 1109B (CAP seminar room)
• Andrea Picciau's list
• Control and Power Seminars

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