On Passivity-Based High-Order Compensators for Mechanical Port-Hamiltonian Systems Without Velocity Measurements ?

摘要

In this work, we propose passivity-based control techniques, where the resulting controllers include the entire class of dynamic output feedback controllers that preserve the port-Hamiltonian structure. The proposed methodology considers a dynamic output feedback controller such that the linearized relationship between the control inputs and the outputs of interest can be interpreted as a high-order compensator. Accordingly, the controllers are studied in the framework of the transfer functions, and the control gains can be tuned through a frequency analysis approach while ensuring the stability of the closed-loop system. Additionally, the controllers have the advantage that they do not require velocity measurements. We illustrate the applicability of the proposed methodology through a numerical example.