Results 11 to 20 of about 250,331 (159)

IDA-PBC Control of an Underactuated Underwater Vehicle [PDF]

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, Jesús Sandoval, Joaquín Gutiérrez–Jagüey, Eusebio Bugarin   +3 more
doaj   +2 more sources

Analysis of instability causes in the bi‐dc converter and enhancing its performance by improving the damping in the IDA‐PBC control

IET Generation, Transmission & Distribution, 2021
The poor damping of bidirectional dc (bi‐dc) converter caused by constant power load makes power system prone to oscillation, and non‐minimum phase characteristic also jeopardises voltage stability.
Gang Lin, Jiayan Liu, Christian Rehtanz, Yong Li, Wei Zuo, Pengcheng Wang   +5 more
doaj   +1 more source

Algebraic IDA-PBC for Polynomial Systems with Input Saturation: An SOS-based Approach

Revista Politécnica, 2019
: The necessity to deal with partial differential equations (PDEs) and the dissipation condition are the mainadversities in the application of Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC). Recently,an algebraic solution of IDA-
Oscar B Cieza, Johann Reger
doaj   +3 more sources

On the tuning of a nonlinear energy‐based regulator for the positioning of a fully actuated surface marine craft

IET Control Theory & Applications, 2021
The authors address the problem of tuning a non‐linear energy‐based regulator for the positioning of a surface marine craft. Interconnection and damping assignment passivity‐based control (IDA‐PBC) is used for the control design, resulting in passive ...
Christina Kazantzidou, Tristan Perez, Francis Valentinis, Alejandro Donaire   +3 more
doaj   +1 more source

Cooperative Passivity-Based Control of Nonlinear Mechanical Systems

Robotics, 2023
In this work, we propose two cooperative passivity-based control methods for networks of mechanical systems. By cooperatively synchronizing the end-effector coordinates of the individual agents, we achieve cooperation between systems of different types ...
Oscar de Groot, Laurens Valk, Tamas Keviczky   +2 more
doaj   +1 more source

Robust IDA-PBC for underactuated mechanical systems subject to matched disturbances [PDF]

, 2016
The problem of robustification of Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) for underactuated mechanical system vis-à-vis matched, constant, unknown disturbances is addressed in the paper.
Crespo, Martín Andrés, Siciliano, Bruno, Romero, J., Martín-Crespo, T., Siciliano, B., Donaire, Alejandro, Ortega, R., Romero, J. G., Donaire, A., Crespo, M., Donaire, Alejandro Guillermo, Romero, Jose Guadalupe, Ortega, Romeo   +12 more
core   +1 more source

Performance of a Robust Passivity-Fuzzy Logic Controller for a Doubly Fed Induction Generator [PDF]

JES: Journal of Engineering Sciences
The article discussed a robust control strategy that combined passivity with interval type-2 fuzzy logic for a wind energy conversion system (WECS) using a variable speed wind turbine (WT) and a doubly fed induction generator (DFIG).
Izzeddine Allali, Izzeddine Allali
doaj   +1 more source

Filtered Observer-Based IDA-PBC Control for Trajectory Tracking of a Quadrotor

IEEE Access, 2021
In this paper, a new filtered observer-based IDA-PBC (Interconnection and Damping Assignment-Passivity Based Control) strategy is developed for trajectory tracking of a quadrotor in the presence of disturbances and model uncertainties.
Maria-Eusebia Guerrero-Sanchez, Omar Hernandez-Gonzalez, Guillermo Valencia-Palomo, Francisco-Ronay Lopez-Estrada, Abraham-Efraim Rodriguez-Mata, Javier Garrido   +5 more
doaj   +1 more source

Robust control approach for handling matched and/or unmatched uncertainties in port-controlled Hamiltonian systems

IET Cyber-systems and Robotics, 2019
This study considers the problem of robust interconnection and damping assignment passivity-based control approach (IDA-PBC) for underactuated mechanical systems from two points of view.
Tahereh Binazadeh, Mahsa Karimi, Ali Reza Tavakolpour-Saleh   +2 more
doaj   +1 more source

Explicit and implicit IDA-PBC design and implementation for a portal crane [PDF]

, 2021
The interconnection and damping assignment passivity-based control (IDA-PBC) is well-known for regulating the behavior of nonlinear systems. In underactuated mechanical systems (UMSs), its application requires the satisfaction of matching conditions ...
Vidal, Enrique J., Reger, Johann, Cieza, Oscar B.   +2 more
core   +1 more source