标题：Stabilisation and Script capital H-infinity control for switched port-controlled Hamiltonian systems with unstable modes and actuator saturation
作者：Wang, Zi-Ming; Wei, Airong; Zhao, Xudong; Yang, Jinge; Zong, Guangdeng
作者机构：[Wang, Zi-Ming; Wei, Airong] Shandong Univ, Sch Control Sci & Engn, Jinan 250061, Shandong, Peoples R China.; [Zhao, Xudong] Dalian Univ Technol, Fa 更多
通讯作者：Wei, Airong;Wei, AR
通讯作者地址：[Wei, AR]Shandong Univ, Sch Control Sci & Engn, Jinan 250061, Shandong, Peoples R China.
来源：INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE
关键词：H-infinity control; energy-based multiple Lyapunov functions; slow/fast; mode-dependent average dwell time; switched port; controlled Hamiltonian; systems; actuator saturation
摘要：In this paper, the problems of stabilisation and control are addressed for switched port-controlled Hamiltonian (SPCH) systems with unstable modes and actuator saturation (AS) via energy-based multiple Lyapunov functions methods. Firstly, by a switching state feedback controller with truncation-inequality techniques, the considered system is transformed into an unforced SPCH system with asymptotically stable, stable and unstable modes. Then, by developing an alternative switching law with slow/fast mode-dependent average dwell time (MDADT) switching scheme, new sufficient conditions are obtained for stabilisation of the SPCH system. Secondly, by designing a new switching feedback controller, revealing the characteristics of alternative switching signals and defining an indicative function, a new criterion for control of the SPCH systems with unstable modes and AS is achieved via the slow/fast MDADT switching scheme. Moreover, based on the obtained results and the indicative function, control conditions for the corresponding SPCH system are also derived under a slow MDADT switching scheme and a traditional average dwell time scheme, respectively. Finally, some numerical examples are given to verify the effectiveness of the proposed methods.