Adaptive interconnection and damping assignment passivity-based control for linearly parameterized discrete-time port controlled Hamiltonian systems via I&I approach

Alkrunz M., Yalçın Y.

INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, vol.35, no.1, pp.69-88, 2021 (SCI-Expanded) identifier identifier

  • Publication Type: Article / Article
  • Volume: 35 Issue: 1
  • Publication Date: 2021
  • Doi Number: 10.1002/acs.3187
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus, Academic Search Premier, Aerospace Database, Applied Science & Technology Source, Communication Abstracts, Compendex, INSPEC, Metadex, zbMATH, Civil Engineering Abstracts
  • Page Numbers: pp.69-88
  • Keywords: IDA&#8208, PBC, immersion &amp, invariance (I&amp, I), linearly parameterized systems, nonlinear adaptive control, port controlled Hamiltonian systems, H-INFINITY CONTROL, MECHANICAL SYSTEMS, STABILIZATION, IMMERSION, INVARIANCE, CONVERTER, STABILITY
  • Istanbul Technical University Affiliated: Yes


In this paper, discrete-time adaptive control of linearly parameterized fully actuated Port-controlled Hamiltonian systems with parameter uncertainties in energy function is considered. A discrete-time adaptive interconnection and damping assignment passivity-based control (IDA-PBC) method, utilizing the immersion and invariance (I&I) approach, for the considered uncertain Hamiltonian system, is presented. A discrete-time parameter estimator based on the immersion and invariance approach is derived to obtain an automatic tuning mechanism for the IDA-PBC controller. The stability analysis for the estimator and the closed-loop system is done using the Lyapunov theory. The proposed method is applied to two fully actuated physical systems and its performance is tested by simulations. Simulation results show that the proposed I&I-based adaptive IDA-PBC controller successfully preserves the performance of the IDA-PBC controller designed with true parameters under a large amount of uncertainty.