On estimation of attraction domain for port-controlled Hamiltonian systems subject to actuator saturation

• Published in: Journal of control theory and applications Vol. 10; no. 2; pp. 195 - 200
• Main Authors: Wei, Airong, Wang, Yuzhen
• Format: Journal Article
• Language: English
• Published: Heidelberg South China University of Technology and Academy of Mathematics and Systems Science, CAS 01.05.2012; School of Control Science and Engineering, Shandong University, Jinan Shandong 250061, China
• Subjects: Actuators; AS系统; Attraction; Complexity; Computational Intelligence; Control; Control and Systems Theory; Control theory; Ellipsoids; Engineering; Invariants; Mechatronics; Nonlinearity; Optimization; Robotics; Saturation; Systems Theory; 估计; 吸引域; 哈密顿系统; 端口控制; 约束优化问题; 线性矩阵不等式; 饱和执行器; Domain of attraction; PCH system; Actuator saturation; Set invariance
• ISSN: 1672-6340; 1993-0623
• DOI: 10.1007/s11768-012-9296-6

This paper investigates the estimation of domain of attraction for nonlinear port controlled Hamiltonian （PCH） systems with actuator saturation （AS）. Several conditions are established under which an ellipsoid is contractively invariant, and thus can be employed to find the biggest ellipsoid contained in the domain of attraction. It is shown that the proposed conditions can be expressed in the form of the linear matrix inequalities （LMIs） optimization problem with constraints. Study of an illustrative example shows that the proposed method works very well in estimating the domain of attraction for some classes of nonlinear PCH systems with AS.