Abstract
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. Several numerical examples are presented that demonstrate the efficacy of the proposed passivity-based stochastic control framework.
| Original language | English |
|---|---|
| Pages (from-to) | 134-142 |
| Number of pages | 9 |
| Journal | Automatica |
| Volume | 97 |
| DOIs | |
| State | Published - Nov 2018 |
Bibliographical note
Funding Information:This work was supported in part by the Air Force Office of Scientific Research under Grant FA9550-16-1-0100 . The material in this paper was not presented at any conference. This paper was recommended for publication in revised form by Associate Editor Laura Menini under the direction of Editor Daniel Liberzon.
Publisher Copyright:
© 2018 Elsevier Ltd
Keywords
- Energy functions
- Energy-based control
- Port-controlled Hamiltonian systems
- Stochastic dynamical systems
- Stochastic stability
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering