相关论文: A Geometric Method for Passivation and Cooperative…
Passivity is a fundamental concept that constitutes a necessary condition for any quantum system to attain thermodynamic equilibrium, and for a notion of temperature to emerge. While extensive work has been done that exploits this, the…
Passivity theory is one of the cornerstones of control theory, as it allows one to prove stability of a large-scale system while treating each component separately. In practice, many systems are not passive, and must be passivized in order…
This paper presents a geometric framework for analyzing output-feedback and input-feedforward passivization of linear time-invariant systems. We reveal that a system is passivizable with a given passivity index when the Nyquist plot for…
We extend deterministic port-Hamiltonian systems (PHS) to a stochastic framework by means of stochastic differential equations. As the dissipation inequality plays a crucial role for deterministic PHS, we develop several passivity concepts…
Equilibrium-independent dissipativity (EID) is a recently introduced system property which requires a system to be dissipative with respect to any forced equilibrium configuration. This paper is a detailed examination of EID with quadratic…
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…
We study the equilibrium-independent (EI) passivity of a nonlinear power system composed of two-axis generator models. The model of our interest consists of a feedback inter-connection of linear and nonlinear subsystems, called mechanical…
This paper provides a constructive passivity-based control approach to solve the set-point regulation problem for input-affine continuous nonlinear systems while considering saturation in the inputs. As customarily in passivity-based…
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…
This paper deals with the problem of control of partially known nonlinear systems, which have an open-loop stable equilibrium, but we would like to add a PI controller to regulate its behavior around another operating point. Our main…
Shortcut schemes can accelerate quasi-static processes in passive systems by adding auxiliary controls to realize swift transitions between equilibrium states. In active systems, however, inherently directed motion driven by free energy…
The present work address the problem of energy shaping for stochastic port-Hamiltonian system. Energy shaping is a powerful technique that allows to systematically find feedback law to shape the Hamiltonian of a controlled system so that,…
This paper proposes a balancing-based model reduction approach for an interconnection of passive dynamic subsystems. This approach preserves the passivity and stability of both the subsystems and the interconnected system. Hereto, one…
The design of an observer-based state feedback (OBSF) controller with guaranteed passivity properties for port-Hamiltonian systems (PHS) is addressed using linear matrix inequalities (LMIs). The observer gain is freely chosen and the LMIs…
The increasing penetration of converter-interfaced distributed energy resources has brought out the need to develop decentralized criteria that would ensure the small-signal stability of the inter-connected system. Passivity of the D-Q…
In this paper, we examine the shifted passivity property of port-Hamiltonian systems. Shifted passivity accounts for the fact that in many applications the desired steady-state values of the input and output variables are nonzero, and thus…
This paper studies the problem of passive grasp stability under an external disturbance, that is, the ability of a grasp to resist a disturbance through passive responses at the contacts. To obtain physically consistent results, such a…
In this paper, we propose a network-optimization framework for the analysis of multi-agent systems with passive-short agents. We consider the known connection between diffusively-coupled maximally equilibrium-independent passive systems,…
The varied and complex dynamics of real-world systems challenge the formulation of a systematic strategy for designing a stabilizing feedback law. Rather than taking a universal approach, the control strategies developed thus far to handle…
In this note we identify a class of underactuated mechanical systems whose desired constant equilibrium position can be globally stabilised with the ubiquitous PID controller. The class is characterised via some easily verifiable conditions…