Results 141 to 150 of about 407 (160)
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Adaptive IDA‐PBC for underactuated mechanical systems with constant disturbances
International Journal of Adaptive Control and Signal Processing, 2018SummaryThis work investigates the control of nonlinear underactuated mechanical systems with matched and unmatched constant disturbances. To this end, a new control strategy is proposed, which builds upon the interconnection‐and‐damping‐assignment passivity‐based control, augmenting it with an additional term for the purpose of disturbance compensation.
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IDA-PBC with adaptive friction compensation for underactuated mechanical systems
International Journal of Control, 2019In this work the control of underactuated mechanical systems with dry friction on actuated and unactuated joints is investigated.
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Application of the modified IDA‐PBC for shunt active power filters control
International Journal of Circuit Theory and Applications, 2016SummaryThe design of a passivity‐based nonlinear controller for a shunt active power filter to be used for the compensation of harmonic currents consumed by nonlinear loads is presented in this paper. The main objective of designed controller is to inject the necessary compensation current into the system so that the grid current is sinusoidal and ...
Federico Martin Serra +2 more
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IDA-PBC of the robot manipulator including actuator dynamics
2019 Chinese Automation Congress (CAC), 2019In this paper, the trajectory tracking control problem of the manipulator including the dynamics of the actuator is studied. This paper chooses the permanent magnet synchronous motor(PMSM) as the actuator of the robot manipulator and combines the electrical subsystem equation with the mechanical subsystem equation.
Yue Wang +3 more
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On the equivalence of two nonlinear control approaches: Immersion and invariance and IDA-PBC
European Journal of Control, 2013zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Paul Kotyczka, Ioannis Sarras
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Transparent Parametrization of Nonlinear IDA-PBC for a Hydraulic Actuator
IFAC Proceedings Volumes, 2010Abstract In this contribution the application of local linear dynamics assignment for the parametrization of nonlinear passivity based setpoint-control of a double-acting hydraulic cylinder is presented. The focus is on the systematic derivation of the stabilizing nonlinear state feedback control law using Interconnection and Damping Assignment ...
Paul Kotyczka +3 more
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A Robust IDA-PBC Approach for Handling Uncertainties in Underactuated Mechanical Systems
IEEE Transactions on Automatic Control, 2018Interconnection and damping assignment passivity-based control (IDA-PBC) is a method that has been developed to (asymptotically) stabilize nonlinear systems formulated in the port-controlled Hamiltonian (PCH) structure. This method has gained increasing popularity and has been successfully applied to a wide range of dynamical systems.
Mutaz Ryalat, Dina Shona Laila
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Generalization of the IDA-PBC method for stabilization of mechanical systems
18th Mediterranean Conference on Control and Automation, MED'10, 2010We generalize and strengthen the method of Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) for the stabilization of mechanical systems. First, we replace the skew symmetry property of the interconnection matrix with the energy conservation property, and introduce a gyroscopic force replacing the interconnection sub-matrix that ...
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IDA-PBC Controller Tuning Using Steepest Descent
2018The optimization of controller parameters or gains is a challenge usually approached using empirical methods that consume valuable time, without the certainty that the obtained gains actually produce the desired behaviour of the controlled plant.
J. A. Morales +4 more
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Solution of matching equations of IDA-PBC by Pfaffian differential equations
International Journal of Control, 2022Hamid D Taghirad, M Reza J Harandi
exaly