Passivity-based control of euler-lagrange systems pdf files

As another example of such gradient systems, dynamics stemming from the gradient of objective functions can be found in the optimization theory 3. Composite energy functionbased spatial iterative learning control in motion systems j. On disturbance attenuation properties of control schemes for eulerlagrange systems. Research on variable area hybrid system using optimized. Hamiltonian systems are mechanical nonlinear control systems obtained from eulerlagrange equations in 1833 by irish mathematician william.

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. Recently, extensive e orts have been devoted to the design of control algorithms for the synchronization of networked lagrangian systems see. Yildiz and his collaborators for automotive control problems 3034. Control control theory eulerlagrange systems modelling motor nonlinear systems passive systems passivitybased control tracking control engineering modeling robot. Introduction in a number of recent papers a new method has been introduced for stabilizing underactuated mechanical systems. In particular, a relation between optimizationbased gradient systems and power system control has also. Despite the ongoing trend of using lyapunovbased approaches, the concept of passivity is. Mechanical, electrical and electromechanical applications by r.

The cruise control problem of high speed trains hsts is revisited in this paper. A new lagrangian formulation with complex currents is developed and yields a direct and simple method for modeling threephase permanentmagnet and induction. On passivitybased output feedback global stabilization of. Distributed average tracking of networked eulerlagrange.

We highly recommend passivitybased control of eulerlagrange systems. Yu 1834 adaptiverobust control of eulerlagrange systems with linearly parametrizable uncertainty bound. We consider passivitybased and feedback linearization schemes developed for the control of dctodc converters and rigid robots. Passivitybased control of eulerlagrange systems mechanical, electrical and electromechanical applications. Passivitybased control with guaranteed safety via interconnection and damping assignment muhammad zakiyullah romdlony. Springer, berlin 1998 communications and control engineering series. Design, implementation and experiments of a robust. Some applications of passivitybased control and invariance principles anton h. Achieving consensus of eulerlagrange agents with interconnecting delays and without velocity measurements via passivitybased control e. Control of robot manipulators in joint space by rafael.

Mechanical, electrical and electromechanical applications for bot the researcher interested in advanced passivitybased control techniques and the engineer seeking experimentally proven techniques. Generating periodic motions for the butterfly robot. Passivitybased tracking control for uncertain nonlinear. Eletter 353 january 2018 ieee control systems society. 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. On global output feedback regulation of eulerlagrange. Conference on decision and control lake buena vista, fl december 1994 wa 10.

To see a list of delaycompensating controllers and an investigation of predictive laws for delay perturbations, see 35. Passivitybased output synchronization of networked eulerlagrange systems subject to nonholonomic constraints han yu and panos j. Mechanical, electrical and electromechanical applications. Mechanical, electrical and electromechanical applications romeo ortega, antonio lor a, per j. A passivitybased controller without velocity measurements. Mechanical, electrical and electromechanical applications romeo ortega phd, antonio loria phd, per johan nicklasson dr ing, hebertt siraramirez phd auth. Passivitybased cruise control of high speed trains. Passivitybased distributed control of networked eulerlagrange systems with nonholonomic constraints. Distributed average tracking of networked eulerlagrange systems article in ieee transactions on automatic control 602 february 2015 with 42 reads how we measure reads.

Convex gradient controller design for incrementally. 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. The pedagogical style of the authors lend to the readability and the flow of knowledge to the reader. Download for offline reading, highlight, bookmark or take notes while you read control of robot manipulators in joint space. The reader should rather consider this presentation as very concise image of the material cited in the bibliography. A passivitybased powershaping control of building hvac. Synchronization of heterogeneous eulerlagrange systems.

The pedagogical style of the authors lend to the readability and the flow of. 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. Passivity based control encyclopedia of life support. These ideas though well known in mechanics, were first introduced in control in the seminal paper 2 and rigorously articulated in.

Nonlinear digital lyapunov based stabilizing control doroth ee normandcyrot laboratoire des signaux et syst emes l2s cnrs umr 8506 icstcc. Antsaklis abstract in this paper, we study the output synchronization problem of networked eulerlagrangeel systems subject to nonholonomic constraints. The nonlinear damping was injected without velocity. He is coauthor of passivitybased control of eulerlagrange systems. 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. Passivitybased control pbc has shown to be a successful technique for control design of underactuated systems ortega et al. Pdf timeoptimal control strategies for a hybrid electric race car s.

A key aspect for both sets of equations is that the energy storage in the system plays a central role. Passivitybased distributed control of networked euler. Under some detectabilitylike conditions asymptotic stability will then follow. Antsaklis department of electrical engineering university of notre dame notre dame, in 46556 interdisciplinary studies in intelligent. 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. Pdf in this paper, the classical augmented pd control method is extended to a passivitybased control of eulerlagrange systems with a nonquadratic. An energybalancing perspective of interconnection and. He is author of more than seventy scientific journal and conference papers as well as four book chapters in control theory. On disturbance attenuation properties of control schemes. Energybalancingbased control design for power systems a thesis submitted to. Virtual contraction and passivity based control of.

Passivitybased output synchronization of networked euler. For standard mechanical systems with n degrees of freedom, and locally represented by n generalized displacement. Kuntanapreedaadaptive control of fractionalorder unified chaotic systems using a passivitybased control approach. Based on the backstepping control theory, this paper investigates the distributed finitetime coordinated tracking control for eulerlagrange systems under directed graphs.

Hybrid stabilizing control for the spatial double inverted. The di culty in employing passivitybased control resides in the. Underactuation refers to the fact that number of the inputs is smaller than the number of the degrees of freedom. Output synchronization control of eulerlagrange systems. Wijmenga en volgens besluit van het college voor promoties. 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. Neural networkbased repetitive learning control of euler lagrange systems. The master side we assume the master to be a generic mechanical system described by the following eulerlagrange equations. Using pdes to calculate optimal foot motion for walking.

Iii electromechanical systems 241 8 nestedloop passivitybased control. 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. Nonlinear digital lyapunov based stabilizing control. The key idea of the method is to look for a stabilizing feedback law which renders the closed loop system into. 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. Pdf passivitybased distributed control of networked. Passivity, feedback equivalence, and the global stabilization of minimum phase nonlinear systems. Passivity based control encyclopedia of life support systems. For eulerlagrange systems we dispose of a rather systematic procedure to carry out this task. In passivitybased control the main objective is to impose, via the control, the passivity property to some suitably defined map. The results are readily checked and analysed for the dctodc converter in the. Control of robot manipulators in joint space rafael. A new paradigm for stabilization of nonlinear rlc circuits. Energybalancingbased control design for power systems.