Passivity-based control of euler-lagrange systems pdf files

On disturbance attenuation properties of control schemes for eulerlagrange systems. For eulerlagrange systems we dispose of a rather systematic procedure to carry out this task. Energybalancingbased control design for power systems a thesis submitted to. Energybalancingbased control design for power systems. Mechanical, electrical and electromechanical applications for bot the researcher interested in advanced passivitybased control techniques and the engineer seeking experimentally proven techniques.

Yildiz and his collaborators for automotive control problems 3034. On disturbance attenuation properties of control schemes. Antsaklis department of electrical engineering university of notre dame notre dame, in 46556 interdisciplinary studies in intelligent. A new paradigm for stabilization of nonlinear rlc circuits. We highly recommend passivitybased control of eulerlagrange systems. Composite energy functionbased spatial iterative learning control in motion systems j. Generating periodic motions for the butterfly robot. In passivitybased control the main objective is to impose, via the control, the passivity property to some suitably defined map. Passivitybased control with guaranteed safety via interconnection and damping assignment muhammad zakiyullah romdlony. The swingup control was demonstrated for mechanical systems in the plane by using passivity results while the local linear controller can be designed by making use of one the many available techniques. As another example of such gradient systems, dynamics stemming from the gradient of objective functions can be found in the optimization theory 3. Using pdes to calculate optimal foot motion for walking. A passivitybased controller without velocity measurements. Passivitybased output synchronization of networked euler.

Passivitybased tracking control for uncertain nonlinear. Distributed average tracking of networked eulerlagrange systems article in ieee transactions on automatic control 602 february 2015 with 42 reads how we measure reads. Download for offline reading, highlight, bookmark or take notes while you read control of robot manipulators in joint space. Passivity based control encyclopedia of life support systems. The cruise control problem of high speed trains hsts is revisited in this paper. Recently, extensive e orts have been devoted to the design of control algorithms for the synchronization of networked lagrangian systems see. A passivitybased powershaping control of building hvac.

Springer, berlin 1998 communications and control engineering series. Mechanical, electrical and electromechanical applications romeo ortega phd, antonio loria phd, per johan nicklasson dr ing, hebertt siraramirez phd auth. Passivitybased distributed control of networked eulerlagrange systems with nonholonomic constraints. Some applications of passivitybased control and invariance principles anton h. Research on variable area hybrid system using optimized. The nonlinear damping was injected without velocity. Despite the ongoing trend of using lyapunovbased approaches, the concept of passivity is. Passivitybased distributed control of networked eulerlagrange systems with nonholonomic constraints technical report of the isis group at the university of notre dame isis09003 april, 2009 han yu and panos j. Mechanical, electrical and electromechanical applications by r. The key idea of the method is to look for a stabilizing feedback law which renders the closed loop system into. A key aspect for both sets of equations is that the energy storage in the system plays a central role. Output synchronization control of eulerlagrange systems. Control of robot manipulators in joint space by rafael.

Passivitybased tracking control for uncertain nonlinear feedback systems ni bu and mingcong deng college of automation and electronic engineering, qingdao university of science and technology 53 zhengzhou road, qingdao, china graduate school of engineering, tokyo university of agriculture and technology 22416 nakacho, koganei, tokyo 1848588. A new lagrangian formulation with complex currents is developed and yields a direct and simple method for modeling threephase permanentmagnet and induction. Pdf in this paper, the classical augmented pd control method is extended to a passivitybased control of eulerlagrange systems with a nonquadratic. The coordinated control of these systems can be formulated as synchronizationor consensus problems, where the goal is to drive the networked systems or agents to a common state. Distributed average tracking of networked eulerlagrange. Passivity based control encyclopedia of life support. Design, implementation and experiments of a robust. Passivitybased output synchronization of networked eulerlagrange systems subject to nonholonomic constraints han yu and panos j. Yu 1834 adaptiverobust control of eulerlagrange systems with linearly parametrizable uncertainty bound. The results are readily checked and analysed for the dctodc converter in the. Hybrid stabilizing control for the spatial double inverted. Control control theory eulerlagrange systems modelling motor nonlinear systems passive systems passivitybased control tracking control engineering modeling robot. These ideas though well known in mechanics, were first introduced in control in the seminal paper 2 and rigorously articulated in. Mechanical, electrical and electromechanical applications romeo ortega, antonio lor a, per j.

Introduction in a number of recent papers a new method has been introduced for stabilizing underactuated mechanical systems. On global output feedback regulation of eulerlagrange. Wijmenga en volgens besluit van het college voor promoties. Passivitybased tracking control of eulerlagrange systems through energyshaping and damping injection has been thoroughly elaborated in 9 for statefeedback systems, while a nonlinear dynamic output feedback control approach for a class of eulerlagrange systems was suggested in 10. Passivitybased control of eulerlagrange systems mechanical, electrical and electromechanical applications. We consider passivitybased and feedback linearization schemes developed for the control of dctodc converters and rigid robots. Conference on decision and control lake buena vista, fl december 1994 wa 10. Passivitybased control pbc has shown to be a successful technique for control design of underactuated systems ortega et al. In particular, a relation between optimizationbased gradient systems and power system control has also. The pedagogical style of the authors lend to the readability and the flow of. Achieving consensus of eulerlagrange agents with interconnecting delays and without velocity measurements via passivitybased control e.

Considering the quadrotor context, the possibility to incorporate information about the underactuated system structure and to deal with the concept of energy in the control strategy, and considering the lack of works involving passivity based control for this type of aircraft to perform. Hamiltonian systems are mechanical nonlinear control systems obtained from eulerlagrange equations in 1833 by irish mathematician william. He is author of more than seventy scientific journal and conference papers as well as four book chapters in control theory. Passivitybased distributed control of networked euler. He is coauthor of passivitybased control of eulerlagrange systems. The pedagogical style of the authors lend to the readability and the flow of knowledge to the reader. Pdf timeoptimal control strategies for a hybrid electric race car s. Antsaklis abstract in this paper, we study the output synchronization problem of networked eulerlagrangeel systems subject to nonholonomic constraints. The reader should rather consider this presentation as very concise image of the material cited in the bibliography. The system dynamics are expressed in the braytonmoser bm form which exhibits a gradient structure with the mixedpotential function, which has the units of power. Passivity, feedback equivalence, and the global stabilization of minimum phase nonlinear systems.

Underactuation refers to the fact that number of the inputs is smaller than the number of the degrees of freedom. Control of robot manipulators in joint space rafael. This paper presents a framework for control of building hvac systems using a methodology based on powershaping paradigm that exploits the passivity property of a system. For standard mechanical systems with n degrees of freedom, and locally represented by n generalized displacement. Virtual contraction and passivity based control of. Nonlinear digital lyapunov based stabilizing control. Passivitybased cruise control of high speed trains. Kuntanapreedaadaptive control of fractionalorder unified chaotic systems using a passivitybased control approach. On passivitybased output feedback global stabilization of. Convex gradient controller design for incrementally.

Mechanical, electrical and electromechanical applications. The di culty in employing passivitybased control resides in the. Within this context, our a im is to present a dedicated study based on the virtual holonomic constraints vhc approach 4, 5, which is a method that has proven to be useful for deriving analytical solutions to similar problems. Under some detectabilitylike conditions asymptotic stability will then follow. Nonlinear digital lyapunov based stabilizing control doroth ee normandcyrot laboratoire des signaux et syst emes l2s cnrs umr 8506 icstcc. Iii electromechanical systems 241 8 nestedloop passivitybased control. Synchronization of heterogeneous eulerlagrange systems. The master side we assume the master to be a generic mechanical system described by the following eulerlagrange equations. Based on the backstepping control theory, this paper investigates the distributed finitetime coordinated tracking control for eulerlagrange systems under directed graphs. Neural networkbased repetitive learning control of euler lagrange systems.