相关论文: A novel passivity based controller for a piezoelec…

This study investigates a strongly-coupled system of partial differential equations (PDE) governing heat transfer in a copper rod, longitudinal vibrations, and total charge accumulation at electrodes within a magnetizable piezoelectric…

Piezo-electric material can be controlled with current as the electrical variable, instead of voltage. The main purpose of this paper is to derive the governing equations for a current-controlled piezo-electric beam and to investigate…

This paper studies the problem of frequency regulation in power grids, while maximizing the social welfare. Two price-based controllers are proposed; the first one an internal-model-based controller and the second one based on a continuous…

Stability and stabilization of linear port-Hamiltonian systems on infinite-dimensional spaces are investigated. This class is general enough to include models of beams and waves as well as transport and Schr\"odinger equations with boundary…

This paper proposes a practical implementation of sliding mode control (SMC) that utilizes partial modeling compensation. Sliding mode control is well known for its effectiveness as a model free control approach, however, its effectiveness…

This work relates to a novel piezoelectric transformer to be used in an autonomous sensor unit, possibly in conjunction with a RF-MEMS retro-modulator.

The key idea behind PID Passivity-based Control (PID-PBC) is to leverage the passivity property of PIDs (for all positive gains) and wrap the PID controller around a passive output to ensure global stability in closed-loop. However, the…

It is well known that magnetic energy of the piezoelectric beam is relatively small, and it does not change the overall dynamics. Therefore, the models, relying on electrostatic or quasi-static approaches, completely ignore the magnetic…

This paper presents a distributed frequency control method for power grids with high penetration of inverter-connected resources under low and time-varying inertia due to renewable energy (RE). We provide a distributed virtual inertia (VI)…

This work deals with the design of a robust and decentralized passivity-based control scheme for regulating the voltage of a DC microgrid through boost converters. A Krasovskii-type storage function is proposed and a (local) passivity…

We present a mathematical and numerical analysis on a control model for the time evolution of a multi-layered piezoelectric cantilever with tip mass and moment of inertia, as developed by Kugi and Thull [31]. This closed-loop control system…

Passivity-based control is a cornerstone of control theory and an established design approach in robotics. Its strength is based on the passivity theorem, which provides a powerful interconnection framework for robotics. However, the design…

Boundary feedback stabilisation of linear port-Hamiltonian systems on an interval is considered. Generation and stability results already known for linear feedback are extended to nonlinear dissipative feedback, both to static feedback…

The comparative study of Proportional-Integral (PI) and Proportional-Integral-Derivative (PID) controllers applied to level and flow control in coupled tank systems is presented in this research work. The coupled tank system, characterized…

In this paper, we prove the exponential stability property of a class of mechanical systems represented in the port-Hamiltonian framework. To this end, we propose a Lyapunov candidate function different from the Hamiltonian of the system.…

In this paper we present new (stochastic) passivity properties for Direct Current (DC) power networks, where the unknown and unpredictable load demand is modelled by a stochastic process. More precisely, the considered power network…

This paper presents a novel passivity-based semi-autonomous attitude control framework, with a particular focus on attitude kinematics defined on the special orthogonal group $SO(3)$. While human-robot interaction facilitates the successful…

This paper studies robust output tracking and disturbance rejection for boundary controlled infinite-dimensional port--Hamiltonian systems including second order models such as the Euler--Bernoulli beam. The control design is achieved using…

Dynamical systems can be used to model a broad class of physical processes, and conservation laws give rise to system properties like passivity or port-Hamiltonian structure. An important problem in practical applications is to steer…

In this paper, our objective is to develop novel passivity based control techniques by introducing a new passivity concept named Krasovskii passivity. As a preliminary step, we investigate properties of Krasovskii passive systems and…