2021/09/16 by Pablo Borja, Borja, Pablo, Carmen Chan-Zheng +3
Biochemistry, Genetics and Molecular Biology · Engineering · #ATP Synthase and ATPases Research #Control and Stability of Dynamical Systems #Dynamics and Control of Mechanical Systems #FOS: Electrical engineering #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2109.08111
openalex publication_date 2021/09/16 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This paper provides a constructive passivity-based control approach to solve the set-point regulation problem for input-affine continuous nonlinear systems while considering saturation in the inputs. As customarily in passivity-based control, the methodology consists of two steps: energy shaping and damping injection. In terms of applicability, the proposed controllers have two advantages concerning other passivity-based control techniques: (i) the energy shaping is carried out without solving partial differential equations, and (ii) the damping injection is performed without measuring the passive output. The proposed methodology is suitable to control a broad range of physical systems, e.g., mechanical, electrical, and electro-mechanical systems. We illustrate the applicability of the technique by designing controllers for systems in different physical domains, where we validate the analytical results via simulations and experiments.