Related papers: Total Energy Shaping with Neural Interconnection a…

Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) is a nonlinear control technique that assigns a port-Hamiltonian (pH) structure to a controlled system using a state-feedback law. While IDA-PBC has been extensively…

Interconnection and damping assignment passivity-based control (IDA-PBC) is an excellent method to stabilize mechanical systems in the Hamiltonian formalism. In this paper, several improvements are made on the IDA-PBC method. The…

In this paper, we restructure the Neural Interconnection and Damping Assignment - Passivity Based Control (Neural IDA-PBC) design methodology, and we formally analyze its closed-loop properties. Neural IDA-PBC redefines the IDA-PBC design…

To extend the realm of application of the well known controller design technique of interconnection and damping assignment passivity-based control (IDA-PBC) of mechanical systems two modifications to the standard method are presented in…

Total energy shaping through interconnection and damping assignment passivity-based control (IDA-PBC) provides a powerful and systematic framework for stabilizing underactuated mechanical systems. Despite its theoretical appeal,…

Nonholonomic mechanical systems encompass a large class of practically interesting robotic structures, such as wheeled mobile robots, space manipulators, and multi-fingered robot hands. However, few results exist on the cooperative control…

Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) is a well-established stabilization technique for affine nonlinear systems. However, its application is generally hindered by the requirement of solving a set of…

Interconnection and damping assignment, passivity-based control (IDA-PBC) has proven to be a successful control technique for the stabilisation of many nonlinear systems. In this paper, we propose a method to robustify a system which has…

Passivity-based control ensures system stability by leveraging dissipative properties and is widely applied in electrical and mechanical systems. Port-Hamiltonian systems (PHS), in particular, are well-suited for interconnection and damping…

In this paper, a discrete-time I&I-based adaptive IDA-PBC controller for uncertain nonlinearly parameterized port-controlled Hamiltonian systems (PCH), where the parameter uncertainties are assumed in the energy function, is constructed. A…

Although the stabilization of underactuated systems remains a challenging problem, the total energy shaping approach provides a general framework for addressing this objective. However, the practical implementation of this method is…

Designing control systems with bounded input is a practical consideration since realizable physical systems are limited by the saturation of actuators. The actuators' saturation degrades the performance of the control system, and in extreme…

Application of IDA-PBC to mechanical systems has received much attention in recent decades, but its application is still limited by the solvability of the so-called matching conditions. In this work, it is shown that total energy-shaping…

Passivity-based control (PBC) for port-Hamiltonian systems provides an intuitive way of achieving stabilization by rendering a system passive with respect to a desired storage function. However, in most instances the control law is obtained…

Finding the general solution of partial differential equations (PDEs) is essential for controller design in newly developed methods. Interconnection and damping assignment passivity based control (IDA-PBC) is one of such methods in which…

In this paper we propose a variation of the widely popular Interconnection-and-Damping-Assigment Passivity-Based Control (IDA-PBC) based on Poincare's Lemma to design output feedback globally stabilizing controllers for two dimensional…

This paper proposes an extended interconnection and damping assignment passivity-based control technique (IDA-PBC) to control the pressure dynamics in the fuel delivery subsystem (FDS) of proton exchange membrane fuel cells. The fuel cell…

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…

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…

In this paper, we propose a new sampled-data controller for stabilization of the attitude dynamics at a desired constant configuration. The design is based on discrete-time interconnection and damping assignment (IDA) passivity-based…