Results 1 to 10 of about 388 (146)
Aerial physical interaction via IDA-PBC [PDF]
International Journal of Robotics Research, 2019 This paper proposes the use of a novel control method based on interconnection and damping assignment–passivity-based control (IDA-PBC) in order to address the aerial physical interaction (APhI) problem for a quadrotor unmanned aerial vehicle (UAV).
Cristian Secchi +2 more
exaly +4 more sources
Distributed IDA-PBC for a Class of Nonholonomic Mechanical Systems
IFAC-PapersOnLine, 2021 Nonholonomic mechanical systems encompass a large class of practically interesting robotic structures, such as wheeled mobile robots, space manipulators, and multi-fingered robot hands. However, few results exist on the cooperative control of such systems in a generic, distributed approach.
Tsolakis, A. (author) +1 more
exaly +5 more sources
IDA-PBC Control of an Underactuated Underwater Vehicle
Revista Iberoamericana de Automática e Informática Industrial RIAI, 2017 This paper presents an IDA-PBC (Interconnection and Damping Assignment-Passivity Based Control) for underactuated undewater vehicle control, which it has more degree of freedom than actuators. In this proposal, six degree of freedom and only four propels
Diego García +3 more
doaj +2 more sources
Plasma internal profile control using IDA-PBC: Application to TCV [PDF]
Fusion Engineering and Design, 2017 In this paper, new results of plasma ι-profile and β control on TCV, using total plasma current I p , and ECCD (Electron Cyclotron heating and Current Drive) heating source have been discussed. The control model is governed by the resistive diffusion equation coupled with the thermal transport equation, written in PCH (Port-Controlled Hamiltonian ...
F Felici, Olivier Sauter
exaly +3 more sources
An Improved Passivity-based Control of Electrostatic MEMS Device [PDF]
Micromachines, 2020 It is commonly known that the performance of an electrostatic microelectromechanical system (MEMS) device is limited to a specific range of the full gap distance due to the inherited “pull-in instability” phenomenon.
Mutaz Ryalat +3 more
doaj +2 more sources
A connection between optimal control and IDA-PBC design
IFAC-PapersOnLine, 2018 Abstract This paper discusses the relations between Interconnection and Damping Assignment - Passivity Based Control (IDA-PBC) design and Linear Quadratic (LQ) optimal control. It is first investigated how a given optimal control affect the closed-loop system design and, on the other hand, how an optimal criterion may be used as a guideline for IDA ...
L Lefèvre
exaly +2 more sources
Adaptive IDA-PBC for a Class of UMSs: The IWIP Analysis
IFAC-PapersOnLine, 2019 Abstract In this paper an adaptive control scheme is developed for enhancing the Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) technique. The primary objective of the adaptive component is to stabilize a class of Underactuated Mechanical Systems (UMSs) in the presence of uncertainties that are not necessarily matched.
Johann Reger
exaly +2 more sources
IDA-PBC for Polynomial Systems: An SOS-based Approach
IFAC-PapersOnLine, 2018 Abstract Algebraic solutions for the Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) problem are introduced for a class of affine polynomial systems. These classes do not involve to solve partial differential equations for the matching condition.
Cieza, Oscar B., Reger, Johann
exaly +2 more sources
On the matching equations of kinetic energy shaping in IDA-PBC [PDF]
Journal of the Franklin Institute, 2021 Interconnection and damping assignment passivity-based control scheme has been used to stabilize many physical systems such as underactuated mechanical systems through total energy shaping. In this method, some partial differential equations (PDEs) arisen by kinetic and potential energy shaping, shall be solved analytically.
Mohammad Reza Jafari Harandi +1 more
openaire +3 more sources
Energy Reports, 2022 Several advantages are provided by the permanent magnet synchronous motor (PMSM) over DC motors and is gradually replacing them in industry. The dynamics of the PMSM can be described by time-varying non-linear equations considering unknown external ...
Youcef Belkhier +7 more
doaj +1 more source