On Passivity-Based High-Order Compensators for Mechanical Port-Hamiltonian Systems Without Velocity Measurements⁎⁎The work was supported in part by Mori Manufacturing Research and Technology Foundation

• Published in: IFAC-PapersOnLine Vol. 54; no. 14; pp. 287 - 292
• Main Authors: Hamada, Kiyoshi, Borja, Pablo, Fujimoto, Kenji, Maruta, Ichiro, Scherpen, Jacquelien M.A.
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 2021
• Subjects: Control of Nonlinear Systems; Control with Limited Information; Control of Nonlinear Systems; Control with Limited Information
• ISSN: 2405-8963
• DOI: 10.1016/j.ifacol.2021.10.367

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.