相关论文: A novel passivity based controller for a piezoelec…
While port-Hamiltonian descriptor systems are known to be stable and passive, they may not be asymptotically stable or strictly passive. Necessary and sufficient conditions are presented when these properties as well as the regularity and…
Impedance control and specifically stiffness control are widely applied for physical human-robot interaction. The series elastic actuator (SEA) provides inherent compliance, safety and further benefits. This paper aims to improve the…
Uncertainty and variability of renewable energy sources present an imperative technical challenge for Electrical Distribution Utilities. Power Quality indices represent quality of energy delivered and reliability. In this work, a control…
We present a data-driven optimal control framework that can be viewed as a generalization of the path integral (PI) control approach. We find iterative feedback control laws without parameterization based on probabilistic representation of…
This paper considers gain-scheduling of very strictly passive (VSP) subcontrollers using scheduling matrices. The use of scheduling matrices, over scalar scheduling signals, realizes greater design freedom, which in turn can improve…
Modular battery integrated converters or so called dynamically reconfigurable battery packs are expanding into emerging applications, including electromobility and grid storage. Although they offer many degrees of freedom, the state of the…
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…
We consider a simply-supported Euler-Bernoulli beam with viscous and Kelvin--Voigt damping. Our objective is to attenuate the effect of an unknown distributed disturbance using one piezoelectric actuator. We show how to design a suitable…
An in-domain finite dimensional controller for a class of distributed parameter systems on a one-dimensional spatial domain formulated under the port-Hamiltonian framework is presented. Based on [25] where positive feedback and a late…
Port-Hamiltonian (pH) systems offer a highly structured and energy-based modular framework for control systems. Many pH systems exhibit non-polynomial non-linearities. We consider the problem of immersing such systems into 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…
To handle the control difficulties caused by high-order dynamics, a control structure based on fractional order [proportional integral] (PI) controller and fractional order Smith-like predictor for a class of high order systems in the type…
This paper is concerned with the Proportional Integral (PI) regulation control of the left Neu-mann trace of a one-dimensional semilinear wave equation. The control input is selected as the right Neumann trace. The control design goes as…
We study dynamics of the inverted pendulum on the wheel on a soft surface and under a proportional-integral-derivative controller. The behaviour of such pendulum is modelled by a system with a differential inclusion. If the the system has a…
In this paper, a constructive and systematic strategy with more apparent degrees of freedom to achieve the accurate estimation of unknown parameters via a control perspective is proposed. By adding a virtual control in the final equation of…
We design observer-based controllers to stabilise abstract linear boundary control systems on Hilbert spaces. Our main results introduce conditions for exponential, strong, and polynomial stability, and establish external well-posedness of…
An observer-based boundary controller for infinite-dimensional port-Hamiltonian systems defined on 1D spatial domains is proposed. The design is based on an early-lumping approach in which a finite-dimensional approximation of the…
The main objective of this paper is to propose an alternative procedure to carry out one of the key steps of immersion and invariance stabilising controller design. Namely, the one that ensures attractivity of the manifold whose internal…
We present a method to design distributed generation and demand control schemes for primary frequency regulation in power networks that guarantee asymptotic stability and ensure fairness of allocation. We impose a passivity condition on net…
One of the major challenges of voltage stabilization in converter-based DC microgrids are the multiple interacting units displaying intermittent supply behavior. In this paper, we address this by a decentralized scalable, plug-and-play…