In this paper, we develop an energy-based static and dynamic control framework for stochastic port-controlled Hamiltonian systems. In particular, we obtain constructive sufficient conditions for stochastic feedback stabilization that provide a shaped energy function for the closed-loop system while preserving a Hamiltonian structure at the closed-loop level. In the dynamic control case, energy shaping is achieved by combining the physical energy of the plant and the emulated energy of the controller.
|Title of host publication||2018 Annual American Control Conference, ACC 2018|
|Number of pages||6|
|State||Published - Aug 9 2018|
|Event||2018 Annual American Control Conference, ACC 2018 - Milwauke, United States|
Duration: Jun 27 2018 → Jun 29 2018
|Name||Proceedings of the American Control Conference|
|Conference||2018 Annual American Control Conference, ACC 2018|
|Period||6/27/18 → 6/29/18|
Bibliographical noteFunding Information:
This work was supported in part by the Air Force Office of Scientific Research under Grant FA9550-16-1-0100.
© 2018 AACC.
ASJC Scopus subject areas
- Electrical and Electronic Engineering