Parallel simultaneous stabilization of a set of Port-Controlled Hamiltonian systems subject to actuator saturation

Abstract

This paper investigates parallel simultaneous stabilization (PSS) of a set of multi-input nonlinear Port-Controlled Hamiltonian (PCH) systems subject to actuator saturation (AS), and proposes a number of results on the design of PSS controllers for the PCH systems with AS. Firstly, the case of two PCH systems with AS is studied. Exploring the special property of the saturation nonlinearity and the structural properties of dissipative Hamiltonian system, the two systems are combined to generate an augmented PCH system, with which some results on the control design are then obtained. When there are external disturbances in the two systems, a robust PSS controller is designed for the systems. Secondly, the case of more than two PCH systems with AS is investigated, and several new results are proposed for the PSS problem. Finally, two illustrative examples are presented to show that the stabilization controllers obtained in this paper work very well.