Results 121 to 130 of about 407 (160)

On the PDEs arising in IDA-PBC

Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference, 2009
The main stumbling block of most nonlinear control methods is the necessity to solve nonlinear Partial Differential Equations. In this paper we propose a methodology to replace the PDEs of Interconnection and Damping Assignment Passivity-Based Control with algebraic inequalities.
José Ángel Acosta, Alessandro Astolfi
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Geometric Aspects of IDA-PBC

IFAC Proceedings Volumes, 2010
Abstract The purpose of this work is to introduce a geometric definition of problems arising in passivity-based control design. We present a coordinate-free version of the well-known matching equations resulting from the Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) design and show that feedback equivalence between control ...
Kai Höffner, Martin Guay
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Estimating and enlarging the domain of attraction in IDA-PBC

2012 IEEE 51st IEEE Conference on Decision and Control (CDC), 2012
Interconnection and damping assignment passivity- based control (IDA-PBC) is a nonlinear state feedback technique that endows the closed-loop system with a port-Hamiltonian (PH) structure. The assigned energy function qualifies as a Lyapunov function and thus can be used to estimate the domain of attraction (DA).
Tobias Kloiber, Paul Kotyczka
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Bond graph model-based for IDA-PBC

2016 IEEE Conference on Control Applications (CCA), 2016
In recent years, the control technique interconnection and damping assignment-passivity based control (IDA-PBC) has been a very important topic of research, this is because of the energetic interpretation that it gives to the problem of controlling systems with Port-Hamiltonian structure.
Camilo Garcia-Tenorio, Nicanor Quijano, Eduardo Mojica-Nava, Jorge I. Sofrony   +3 more
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IDA-PBC DESIGN FOR MARINE VEHICLE

IFAC Proceedings Volumes, 2013
Abstract Passivity based control with interconnection and damping assignment (IDA-PBC) design technique is developed for marine vehicle. Some speed components defined as generalized coordinates must be kept constant in order to derive an IDA-PBC rule for continuously moving marine vehicle.
Halil AKCAKAYA, Leyla SUMER GOREN
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Parametrization of IDA-PBC by assignment of local linear dynamics

2009 European Control Conference (ECC), 2009
In this paper the open problem of finding a suitable parametrization for Interconnection and Damping Assignment Passivity Based Control (IDA-PBC) is addressed. IDA-PBC is motivated by the physical notion of storage, exchange and dissipation of energy.
Paul Kotyczka, Boris Lohmann
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Dynamic IDA-PBC control for weakly-coupled electromechanical systems

Automatica, 2020
zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Mutaz Ryalat, Dina Shona Laila, Hisham ElMoaqet, Natheer Almtireen   +3 more
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Discrete IDA-PBC design for 2D port-Hamiltonian systems

IFAC Proceedings Volumes, 2013
We address the discrete-time passivity-based control laws synthesis within port-Hamiltonian framework. We focus on IDA-PBC design for canonical port-Hamiltonian systems with separable energy being quadratic in momentum. For this class of systems, we define a discrete Hamiltonian dynamics that exactly satisfies a discrete energy balance.
Aoues, Saïd, Eberard, Damien, Marquis-Favre, Wilfrid   +2 more
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Physical Damping in IDA-PBC Controlled Underactuated Mechanical Systems

European Journal of Control, 2004
zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Gomez-Estern, F, van der Schaft, Arjan
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Equivalence of Immersion and Invariance and IDA-PBC for the Acrobot

IFAC Proceedings Volumes, 2012
Abstract In this note the two well known nonlinear control design techniques Interconnection and Damping Assignment Passivity Based Control (IDA-PBC) and Immersion and Invariance (I&I) are compared through the example of the so-called Acrobot underactuated mechanical system.
Paul Kotyczka, Ioannis Sarras
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