Related papers: Simultaneous Interconnection and Damping Assignmen…
This letter proposes a general decentralized control of cascaded inverters-power factor angle droop control. Compared to the existing control strategies, it has the following attractive benefits: 1) it is suitable for both grid-connected…
A prevailing trend in the stabilization of port-Hamiltonian systems is the assumption that the plant and the controller are both passive. In the standard approach of control by interconnection based on the generation of Casimir functions,…
In this paper we propose an energy pumping-and-damping technique to regulate nonholonomic systems described by kinematic models. The controller design follows the widely popular interconnection and damping assignment passivity-based…
Electrified powertrains rely heavily on magnetics for power conversion, where cost, volume, and weight concerns make integrated multi-use designs an attractive solution. With EV powertrain architectures requiring a boost stage being a major…
In chemical process applications, model predictive control effectively deals with input and state constraints during transient operations. However, industrial PID controllers directly manipulates the actuators, so they play the key role in…
This paper proposes a novel set of power constraints for Battery Energy Storage Systems (BESSs), referred to as Dynamic Power Constraints (DPCs), that account for the voltage and current limits of the BESS as a function of its State of…
In this work, a modal-based sparse control allocation (CA) is proposed for coordinated and fault-tolerant wide-area damping controllers (WADCs). In our proposed method, the supervisory CA only communicates with necessary actuators to…
Control-based continuation (CBC) is a general and systematic method to explore the dynamic response of a physical system and perform bifurcation analysis directly during experimental tests. Although CBC has been successfully demonstrated on…
Within a robotic context, we merge the techniques of passivity-based control (PBC) and reinforcement learning (RL) with the goal of eliminating some of their reciprocal weaknesses, as well as inducing novel promising features in the…
In recent years, transmission system operators have started requesting converter-interfaced generators (CIGs) to participate in grid services such as power oscillation damping (POD). As power systems are prone to topology changes because of…
SCADA (Supervisory Control and Data Acquisition) is concerned with gathering process information from industrial control processes found in utilities such as power grids, water networks, transportation, manufacturing, etc., to provide the…
This paper studies the experimental comparison of two different whole-body control formulations for humanoid robots: inverse dynamics whole-body control (ID-WBC) and passivity-based whole-body control (PB-WBC). The two controllers…
In intelligent manufacturing, robots are asked to dynamically adapt their behaviours without reducing productivity. Human teaching, where an operator physically interacts with the robot to demonstrate a new task, is a promising strategy to…
This paper proposes a decentralised secondary voltage control strategy that has several benefits over the existing centralised strategies. For that, a new structure for the control is proposed in terms of an inner and outer loops for each…
The existing decentralized control for cascaded inverters is based on the assumption that all modules have same capacities, and a local fixed-amplitude-varied-phase voltage control is adopted for each inverter module. However, available…
Methods from controlled Lagrangians, double bracket dissipation and interconnection and damping assignment -- passivity based control (IDA-PBC) are used to construct nonlinear feedback controls which (asymptotically) stabilize previously…
In this article, a nonlinear strategy based on a flatness approach is used for controlling the instantaneous complex power supplied from the Point of Common Coupling (PCC) to a weak grid. To this end, the strategy introduced by the authors…
Port-Hamiltonian systems (PHS) and interconnection and damping assignment passivity-based control (IDA-PBC) have achieved broad success in modelling and stabilisation of physical systems. However, the absence of a dedicated scalar potential…
A decentralized switched controller is developed for dynamic agents to perform global formation configuration convergence while maintaining network connectivity and avoiding collision within agents and between stationary obstacles, using…
The paper presents a feedforward plus feedback controller structure with I and PI controllers for control of an integrating process with dead time. Guidelines for controller gain selection based on time domain specifications of damping…