Related papers: A novel passivity based controller for a piezoelec…
A novel fractional order (FO) fuzzy Proportional-Integral-Derivative (PID) controller has been proposed in this paper which works on the closed loop error and its fractional derivative as the input and has a fractional integrator in its…
We propose a new class of passive nonlinear finite impulse response operators. This class is constructed by the action of finite impulse response filters in a lifted space. This allows for efficient control synthesis through constrained…
The proposed control method uses an adaptive feedforward-based controller to establish a passive input-output mapping for the CDPR that is used alongside a linear time-invariant strictly positive real feedback controller to guarantee robust…
A new "model-free" control methodology is applied for the first time to power systems included in microgrids networks. We evaluate its performances regarding output load and supply variations in different working configuration of the…
In this paper we propose a novel current actuated fully dynamic piezoelectric composite model. This new model complements the existing modeling framework of deriving piezoelectric models. We show that the novel composite model is…
This paper describes a robust linear time-invariant output-feedback control strategy to reduce turbulent fluctuations, and therefore skin-friction drag, in wall-bounded turbulent fluid flows, that nonetheless gives performance guarantees in…
This paper presents a novel methodology to enforce motion safety guarantees even in the event of a sudden loss of control capabilities by any agent within a multi-agent system. This passive safety methodology permits the replacement of…
Dynamical models of wireless power transfer (WPT) systems are of primary importance for the dynamical behavior studies and controller design. However, the existing dynamical models usually suffer from high orders and complicated forms due…
In this paper, we present a controller that combines motion generation and control in one loop, to endow robots with reactivity and safety. In particular, we propose a control approach that enables to follow the motion plan of a first order…
Port-Hamiltonian theory is an established way to describe nonlinear physical systems widely used in various fields such as robotics, energy management, and mechanical engineering. This has led to considerable research interest in the…
This paper investigates the control of nonlinear systems using a piecewise linear approximation framework. The proposed approach combines a PID controller with locally linearized models obtained by partitioning the nonlinear function into…
We develop a physics-informed learning framework for energy-shaping control of port-Hamiltonian (pH) systems from trajectory data. The proposed approach co-learns a pH system model and an optimal energy-balancing passivity-based controller…
Proportional-Integral-Derivative (PID) control is used for automatically regulating a measurable quantity to a desired setpoint. It is widely used in different types of classical control electronics. Here, we show how extending the feedback…
Passive systems are characterized by their inability to generate energy internally, providing a powerful tool for modeling physical phenomena. Additionally, algebraically encoding passivity in the system description can be advantageous. For…
To overcome the oscillation problem in the classical momentum-based optimizer, recent work associates it with the proportional-integral (PI) controller, and artificially adds D term producing a PID controller. It suppresses oscillation with…
There is increasing interest in control frameworks capable of moving robots from industrial cages to unstructured environments and coexisting with humans. Despite significant improvement in some specific applications (e.g., medical…
We introduce a method for measuring the velocity of turbulent fluid flow passing through a pipe using piezoelectric tiles without penetrating the pipe, and without having previously designed the pipe to easily allow monitoring. To measure…
In the paper, a vibration damping system powered by harvested energy with implementation of the so-called SSDV (synchronized switch damping on voltage source) technique is designed and investigated. In the semi-passive approach, the…
In this paper we explore the stabilization of closed invariant sets for passive systems, and present conditions under which a passivity-based feedback asymptotically stabilizes the goal set. Our results rely on novel reduction principles…
This paper deals with a class of Resistive-Inductive-Capacitive (RLC) circuits and switched RLC (s-RLC) circuits modeled in Brayton Moser framework. For this class of systems, new passivity properties using a Krasovskii's type Lyapunov…