相关论文: Reformulation of Matching Equation in Potential En…
Interconnection and damping assignment passivity-based control scheme has been used to stabilize many physical systems such as underactuated mechanical systems through total energy shaping. In this method, some partial differential…
The energy shaping method, Controlled Lagrangian, is a well-known approach to stabilize the under-actuated Euler Lagrange (EL) systems. In this approach, to construct a control rule, some nonlinear, nonhomogeneous partial differential…
A geometric formulation for stabilization of systems with one degree of underactuation which fully solves the energy shaping problem for these system is given. The results show that any linearly controllable simple mechanical system with…
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…
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…
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…
In this paper, we present a method of applying integral action to enhance the robustness of energy shaping controllers for underactuated mechanical systems with matched disturbances. Previous works on this problem have required a number of…
In this paper we present a procedure to integrate, up to quadratures, the matching conditions of the energy shaping method. We do that in the context of underactuated Hamiltonian systems defined by simple Hamiltonian functions. For such…
We introduce optimal energy shaping as an enhancement of classical passivity-based control methods. A promising feature of passivity theory, alongside stability, has traditionally been claimed to be intuitive performance tuning along the…
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…
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,…
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,…
Stabilization of a quadrotor without a controller based on cascade structure is a challenging problem. Besides, due to the dynamics and the number of underactuation, an energy shaping controller has not been designed in 3D for a quadrotor.…
In this paper we show that a slight modification to the widely popular interconnection and damping assignment passivity-based control method---originally proposed for stabilization of equilibria of nonlinear systems---allows us to provide a…
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…
This work concerns the exponential stabilization of underactuated linear homogeneous systems of m parabolic partial differential equations (PDEs) in cascade (reaction-diffusion systems), where only the first state is controlled either…
This manuscript reports the first step towards building a robust and efficient model reduction methodology to capture transient dynamics in a transmission level electric power system. Such dynamics is normally modeled on…
Control of compliant mechanical systems is increasingly being researched for several applications including flexible link robots and ultra-precision positioning systems. The control problem in these systems is challenging, especially with…
Partial Differential Equations (PDE) are fundamental to model different phenomena in science and engineering mathematically. Solving them is a crucial step towards a precise knowledge of the behaviour of natural and engineered systems. In…
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…