Results 131 to 140 of about 407 (160)
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Local linear dynamics assignment in IDA-PBC
Automatica, 2013In this paper, the technique of local linear dynamics assignment is presented, which complements the powerful Interconnection and Damping Assignment Passivity Based Control (IDA-PBC) methodology. In IDA-PBC, nonlinear state feedback controllers are designed by matching the system's dynamics with a desired Port-Hamiltonian (PH) state representation. The
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A Novel Dynamic IDA-PBC Controller for Electrostatic MEMS Devices
2018 Annual American Control Conference (ACC), 2018Electrostatic actuation is the most popular actuation mechanism used in micro-electromechanical systems (MEMS) due to its many inherent advantages. It is well known that the electrostatic actuated MEMS device suffers from inherently nonlinear effect known as pull-in which significantly limit its operating region.
Mutaz Ryalat +3 more
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IDA-PBC under sampling for port-controlled hamiltonian systems
Proceedings of the 2010 American Control Conference, 2010Taking in mind that the lost of the passivity property under sampling reflects into the degradation of the stabilizing performances of emulated controllers, this paper is a first attempt to the sampled-data version of the interconnection and damping assignment-passivity based controllers (IDA-PBC).
Fernando Tiefensee +2 more
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An IDA-PBC approach for the control of 1D plasma profile in tokamaks
52nd IEEE Conference on Decision and Control, 2013In this paper, a PCH model obtained from the spatial reduction of a thermo-magneto-hydrodynamics model for plasma dynamics in tokamaks is used to design an optimal IDA-PBC (Interconnection and Damping Assignment - Passivity Based Control) controller of the magnetic field profile.
Vu, Ngoc Minh Trang +3 more
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Total energy-shaping IDA-PBC control of the 2D-SpiderCrane
49th IEEE Conference on Decision and Control (CDC), 2010The objective of this paper is to further extend the application of the Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) technique to the 2D-SpiderCrane mechanism with both kinetic and potential energy being shaped. An earlier effort had focused exclusively on potential energy alone.
Ioannis Sarras +3 more
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Robust control of underactuated Aerial Manipulators via IDA-PBC
53rd IEEE Conference on Decision and Control, 2014Aerial Manipulators (AMs) are a special class of underactuated mechanical systems formed by the join of Unmanned Aerial Vehicles (UAVs) and manipulators. A thorough analysis of the dynamics and a fully constructive controller design for a quadrotor plus n-link manipulator in a free-motion on an arbitrary plane is provided, via the lDA-PBC methodology ...
José Ángel Acosta +2 more
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Active Nonlinear Tuned Mass Damper via IDA-PBC
2018 IEEE International Conference on Systems, Man, and Cybernetics (SMC), 2018In this paper, we propose a new feedback vibration suppression controller for active nonlinear TMD using IDA-PBC. We consider a general Hamiltonian system under two kinds of disturbances as the controlled system, whose inertia matrix is the function of displacement, so that we can consider the vibrating system with nonlinear tuned mass damper.
Sheng Hao 0002 +2 more
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IDA-PBC control of a three-phase front-end converter
IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society, 2012A nonlinear passivity-based controller for a three-phase front end converter used in renewable energy generation is presented in this paper. The main control objectives are to inject all the available power into the grid while controlling the reactive power exchanged with the power system. With this aim, the system is represented by its Port-Controlled
Federico Martin Serra +2 more
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Control of underactuated bridge cranes: A simplified IDA-PBC approach
2017 11th Asian Control Conference (ASCC), 2017In this paper we present control of underactuated bridge cranes based on a simplified IDA-PBC (interconnection and damping assignment passivity based control) design. In that framework, without approximately decoupling or linearizing the complicated nonlinear model of bridge cranes, a control law is developed based on continuous-time kinetic and ...
Xue Li, Zhiyong Geng
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