Energy dissipating hybrid control for impulsive dynamical systems |
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Authors: | Wassim M. Haddad Qing Hui |
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Affiliation: | School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA 30332-0150, United States |
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Abstract: | A novel class of fixed-order, energy-based hybrid controllers is proposed as a means for achieving enhanced energy dissipation in nonsmooth Euler–Lagrange, hybrid port-controlled Hamiltonian, and lossless impulsive dynamical systems. These dynamic controllers combine a logical switching architecture with hybrid dynamics to guarantee that the system plant energy is strictly decreasing across switchings. The general framework leads to hybrid closed-loop systems described by impulsive differential equations. Special cases of energy-based hybrid controllers involving state-dependent switching are described, and an illustrative numerical example is given to demonstrate the efficacy of the proposed approach. |
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