Title: Global asymptotic and finite-gain L₂ stabilisation of port-controlled Hamiltonian systems subject to actuator saturation

Authors: Wei-Wei Sun, Zongli Lin, Yu-Zhen Wang

Addresses: Institute of Automation, Qufu Normal University, Qufu 273165, China. ' Charles L. Brown Department of Electrical and Computer Engineering, University of Virginia, Charlottesville 22904, USA. ' School of Control Science and Engineering, Shandong University, Jinan 250061, China

Abstract: The stabilisation problem for a port-controlled Hamiltonian system subject to actuator saturation and input additive external disturbances is studied. Conditions are identified under which a static output feedback law would achieve global asymptotic stabilisation. Under some additional growth conditions on the nonlinear functions involved in the system, the same feedback law would also achieve finite gain L₂ stabilisation. In establishing these results, an estimate of the finite gain is also obtained.

Keywords: Hamiltonian systems; asymptotic stability; finite gain stabilisation; actuator saturation.

DOI: 10.1504/IJMIC.2011.039708

International Journal of Modelling, Identification and Control, 2011 Vol.12 No.3, pp.304 - 310

Published online: 21 Mar 2015 *

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