Simultaneous exponential stabilization for stochastic port-controlled Hamiltonian systems with actuator saturations, fading channels and delays

Abstract

This paper is concerned with the simultaneous exponential stabilization problem for a set of stochastic port-controlled Hamiltonian (PCH) systems. Due to the limited bandwidth of the channels, the phenomena of fading channels and transmission delays which are described by a time-varying stochastic model always occur in the communication channels from the controller to the actuator. Meanwhile, actuator saturation constraint is taken into account. On the basis of dissipative Hamiltonian structural and saturating actuator properties, those stochastic PCH systems are combined to generate an augmented system. By utilizing the stochastic analysis theory, sufficient criterions are given for the simultaneous stabilization controller design ensuring that the closed-loop system is simultaneously exponentially mean-square stable (SEMSS). For the case that there exist external disturbances in the systems, some results on stability analysis and controller design are given. The developed controller design scheme is proved by a three-helicopter model simulation example.