Related papers: Total energy-shaping control for mechanical system…
In this paper we present a method to robustify energy-shaping controllers for port-Hamiltonian (pH) systems by adding an integral action that rejects unknown additive disturbances. The proposed controller preserves the pH structure and, by…
In this work, we present a problem of simultaneous input-output feedback linearization and decoupling (non-interacting) for mechanical control systems with outputs. We show that the natural requirement of preserving mechanical structure of…
In autonomous electric vehicles (AEVs), battery energy must be judiciously allocated to satisfy primary propulsion demands and secondary auxiliary demands, particularly the Heating, Ventilation, and Air Conditioning (HVAC) system. This…
This paper considers the backstepping state feedback and observer design for hyperbolic and parabolic PDEs, which are bidirectionally interconnected in a general coupling structure. Both PDE subsystems consist of coupled scalar PDEs with…
The aim of this work is to control the longitudinal position of an autonomous vehicle with an internal combustion engine. The powertrain has an inherent dead-time characteristic and constraints on physical states apply since the vehicle is…
Differentially flat models are frequently used to design feedforward controllers for electromechanical systems. However, control performance depends on model accuracy, which makes feedback imperative. This paper presents a control scheme…
We consider irreversible and coupled reversible-irreversible nonlinear port-Hamiltonian systems and the respective sets of thermodynamic equilibria. In particular, we are concerned with optimal state transitions and output stabilization on…
A system can be driven between metastable configurations by a time-dependent driving protocol, which uses external control parameters to change the potential energy of the system. Here we investigate the correspondence between driving…
In this paper we present an energy shaping control law for set-point regulation of the Chaplygin sleigh. It is well known that nonholonomic mechanical systems cannot be asymptotically stabilised using smooth control laws as they do no…
The kinetic process of mechanical amorphization plays a central role in tailoring material properties. Therefore, a quantitative understanding of how this process depends on loading parameters is critical for optimizing mechanical…
This article provides an overview of model predictive control (MPC) frameworks for dynamic operation of nonlinear constrained systems. Dynamic operation is often an integral part of the control objective, ranging from tracking of reference…
Energy-based modelling brings engineering insight to the understanding of biomolecular systems. It is shown how well-established control engineering concepts, such as loop-gain, arise from energy feedback loops and are therefore amenable to…
Model predictive control (MPC) has become the most widely used advanced control method in process industry. In many cases, forecasts of the disturbances are available, e.g., predicted renewable power generation based on weather forecast.…
Wind turbine (WT) controllers are often geared towards maximum power extraction, while suitable operating constraints should be guaranteed such that WT components are protected from failures. Control strategies can be also devised to reduce…
Production high-performance computing systems continue to grow in complexity and size. As applications struggle to make use of increasingly heterogeneous compute nodes, maintaining high efficiency (performance per watt) for the whole…
This paper considers an optimal energy management problem for a network of interconnected microgrids. A model predictive control (MPC) approach is used to avoid capacity constraint violation and to cope with uncertainties of forecasted…
Projection-based control (PBC) systems have significant engineering impact and receive considerable scientific attention. To properly describe closed-loop PBC systems, extensions of classical projected dynamical systems are needed, because…
Building energy management is one of the core problems in modern power grids to reduce energy consumption while ensuring occupants' comfort. However, the building energy management system (BEMS) is now facing more challenges and…
This paper entails application of the energy shaping methodology to control a flexible, elastic Cosserat rod model. Recent interest in such continuum models stems from applications in soft robotics, and from the growing recognition of the…
This paper is motivated by the need to enhance today's Automatic Generation Control (AGC) for ensuring high quality frequency response in the changing electric power systems. Renewable energy sources, if not controlled carefully, create…