Projected integral control of impedance passive nonlinear systems
Optimization and Control
2025-06-18 v1
Abstract
We propose an abstract framework for solving the constrained set-point tracking problem for impedance passive infinite-dimensional nonlinear systems. The class of systems considered is governed by monotone differential inclusions and allows us to exploit the theory of contraction semigroups. To account for possible operational constraints, e.g., bounds on the input, we replace a classical integral controller with a projected integral controller. This guarantees that the integrator state remains in a given closed convex set, where said constraints are satisfied. We showcase our results through three case studies.
Keywords
Cite
@article{arxiv.2506.14267,
title = {Projected integral control of impedance passive nonlinear systems},
author = {Nicolas Vanspranghe and Pietro Lorenzetti and Lassi Paunonen and George Weiss},
journal= {arXiv preprint arXiv:2506.14267},
year = {2025}
}