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A new strict Lyapunov function for fully-actuated mechanical systems controlled by IDA-PBC

J.A. Acosta, E. Panteley, R. Ortega
2009 2009 IEEE International Conference on Control Applications  
In this brief note a new strict Lyapunov function for mechanical systems controlled by the well-known Passivitybased Control technique of Interconnection and Damping Assignment is proposed.  ...  To construct the proposed Lyapunov function a new systematic mathematical machinery is introduced.  ...  Acosta was supported by The Consejería de Innovación, Ciencia y Empresa of The Junta de Andalucía under IAC programme, and by The Ministerio de Ciencia e  ... 
doi:10.1109/cca.2009.5280704 dblp:conf/IEEEcca/AcostaPO09 fatcat:ohatvrs2efgrpixiix3wcihnty

Control of a flexible spacecraft using discrete IDA-PBC design

Said Aoues, Denis Matignon, Daniel Alazard
2015 IFAC-PapersOnLine  
This paper has two objectives, first synthesize a discrete-time IDA-PBC for an underactuated port-Hamiltonian system, and second stabilize the angular position of an experimental testbed used in aerospace  ...  A stability condition is given when taking the desired Hamiltonian as Lyapunov candidate function.  ...  Firstly, to propose a new discrete-time IDA-PBC for damped linear Hamiltonian systems while exactly preserving the passivity property.  ... 
doi:10.1016/j.ifacol.2015.10.237 fatcat:lwl6wkymlncvdcp2fpun4egaem

Global Stabilisation of Underactuated Mechanical Systems via PID Passivity-Based Control [article]

Jose Guadalupe Romero, Alejandro Donaire, Romeo Ortega
2016 arXiv   pre-print
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.  ...  Second, the observation that it is possible to construct a Lyapunov function for the desired equilibrium via a suitable choice of the aforementioned weights and the PID gains and initial conditions.  ...  point-to-point positioning task for fully actuated robot manipulators.  ... 
arXiv:1610.06999v1 fatcat:47aeeqn3prbqzfeqyofyqa7lay

Trajectory tracking passivity-based control for marine vehicles subject to disturbances

Alejandro Donaire, Jose Guadalupe Romero, Tristan Perez
2017 Journal of the Franklin Institute  
As an example of application, we follow this methodology to design a passivity-based controller with integral action for fully actuated vehicles in six degrees of freedom that tracks time-varying references  ...  mechanical systems described in terms of generalised coordinates.  ...  The body-fixed coordinate model is then used to design a robust IDA-PBC tracking controller. This is a very attractive technique for designing motion controllers for mechanical systems.  ... 
doi:10.1016/j.jfranklin.2017.01.012 fatcat:ftvfhvz2hzhtvdexgmkpj42xte

A simplified IDA-PBC design for underactuated mechanical systems with applications

Mutaz Ryalat, Dina Shona Laila
2016 European Journal of Control  
We develop a method to simplify the partial differential equations (PDEs) associated to the potential energy for interconnection and damping assignment passivity based control (IDA-PBC) of a class of underactuated  ...  mechanical systems (UMSs).  ...  IDA-PBC is a control design method formulated for systems described by port-controlled Hamiltonian (PCH) models.  ... 
doi:10.1016/j.ejcon.2015.12.001 fatcat:tphynx2de5dhnov5xdlkun4usm

Energy shaping for the robust stabilization of a wheeled inverted pendulum

Sergio Delgado, Paul Kotyczka
2015 IFAC-PapersOnLine  
We use the method of Controlled Lagrangians which is applied in a systematic way, and is very intuitive, for it is physically motivated.  ...  The paper deals with the robust energy-based stabilization of a wheeled inverted pendulum, which is an underactuated, unstable mechanical system subject to nonholonomic constraints.  ...  Energy shaping techniques, like the method of Controlled Lagrangians, or Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC), have been successfully used for the stabilization of underactuated  ... 
doi:10.1016/j.ifacol.2015.10.220 fatcat:vn2rtmuuubainjoxaxnqze3uny

Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment

R. Ortega, M.W. Spong, F. Gomez-Estern, G. Blankenstein
2002 IEEE Transactions on Automatic Control  
Our main contribution is the characterization of a class of systems for which IDA-PBC yields a smooth asymptotically stabilizing controller with a guaranteed domain of attraction.  ...  In this paper we consider the application of a new formulation of Passivity Based Control, known as Interconnection and Damping Assignment, or IDA-PBC, to the problem of stabilization of underactuated  ...  The work of Fabio Gómez-Estern and Guido Blankenstein was partly funded by the Research Network NACO-2 of the European Union.  ... 
doi:10.1109/tac.2002.800770 fatcat:hzbhq3pyyzhhjisiabxhx77ltm

Robust dynamic state feedback for underactuated systems with linearly parameterized disturbances

Enrico Franco, Ferdinando Rodriguez y Baena, Alessandro Astolfi
2020 International Journal of Robust and Nonlinear Control  
The robust energy shaping control of fully actuated mechanical systems with disturbances was presented in Reference 18, while disturbance attenuation for discrete-time systems was studied in Reference  ...  Applications of IDA-PBC include mechanical and electromechanical systems, 2,3 power system, underwater vehicles, and aerial vehicles. 4 As one of its main drawbacks, IDA-PBC requires solving a set of partial  ...  ACKNOWLEDGEMENTS This research was supported by the Engineering and Physical Sciences Research Council (grant number EP/R009708/1).  ... 
doi:10.1002/rnc.4985 fatcat:zmbpvoho2jaozp3bfb6jmoq4tm

Speed Observation and Position Feedback Stabilization of Partially Linearizable Mechanical Systems

Aneesh Venkatraman, Romeo Ortega, Ioannis Sarras, Arjan van der Schaft
2010 IEEE Transactions on Automatic Control  
for speed observation or control.  ...  It is shown that the class is fully characterized by the solvability of a set of partial differential equations (PDEs) and strictly contains the class studied in the existing literature on linearization  ...  ACKNOWLEDGMENT The authors would like to thank A. Astolfi for providing early copies of the important papers [8] , [14] -that heavily influenced their work -A. de Luca and E.  ... 
doi:10.1109/tac.2010.2042010 fatcat:pe7fu32hpnhpxiximfqlona33y

Interconnection and damping assignment passivity-based current control of grid-connected PWM converter with LCL-filter

Matthias Bottcher, Jorg Dannehl, F W Fuchs
2010 Proceedings of 14th International Power Electronics and Motion Control Conference EPE-PEMC 2010  
Experimental tests on a 22 kW induction motor drive prove the simulation results.  ...  Interconnection and Damping Assignment Passivity-Based Control of grid-connected PWM converters with LCL-filter is designed and analyzed.  ...  The energy function has to represent a Lyapunov function [38] , which can be achieved by complying with the class that the energy function of the control plant belongs to.  ... 
doi:10.1109/epepemc.2010.5606817 fatcat:ef7p5j7tazc5xh7tjrwt3bhx7q

Matched disturbance rejection for energy-shaping controlled underactuated mechanical systems [article]

Joel Ferguson, Alejandro Donaire, Romeo Ortega, Richard H. Middleton
2017 arXiv   pre-print
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 technical assumptions to be satisfied, restricting the class of systems for which the proposed solution applies.  ...  The integral action scheme was tailored to fully actuated mechanical systems in [11] and underactuated mechanical systems in [12] .  ... 
arXiv:1708.09562v1 fatcat:vmsm3iszgjeyto4sb3qjnhw36q

Matched disturbance rejection for energy-shaping controlled underactuated mechanical systems

Joel Ferguson, Alejandro Donaire, Romeo Ortega, Richard H. Middleton
2017 2017 IEEE 56th Annual Conference on Decision and Control (CDC)  
The integral action scheme was tailored to fully actuated mechanical systems in [11] and underactuated mechanical systems in [12] .  ...  In general, the equilibrium of a mechanical system stabilised with IDA-PBC will be shifted when an external disturbance acts on the system.  ...  Recalling that R d (q) = G(q)K p (q)G ⊤ (q), the term T R d T ⊤ can be simplified to Finally, subdividing the momentum variable of (39) into p = col(p 1 , p 2 ) and substituting T by its definition (8)  ... 
doi:10.1109/cdc.2017.8263862 dblp:conf/cdc/FergusonDOM17 fatcat:hplanhv4zfbzrlsp5nb3ffmkbe

New results on disturbance rejection for energy-shaping controlled port-Hamiltonian systems [article]

Joel Ferguson, Alejandro Donaire, Romeo Ortega, Richard H. Middleton
2017 arXiv   pre-print
The proposed controller preserves the pH structure and, by adding to the new energy function a suitable cross term between the plant and the controller coordinates, it avoids the unnatural coordinate transformation  ...  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.  ...  This IAC was tailored for fully-actuated mechanical systems in [13] and underactuated mechanical systems in [14] .  ... 
arXiv:1710.06070v1 fatcat:uy4dn3xmmvgvhggz6nkx3ulmve

Aerial physical interaction via IDA-PBC

Burak Yüksel, Cristian Secchi, Heinrich H. Bülthoff, Antonio Franchi
2019 The international journal of robotics research  
This paper proposes the use of a novel control method based on IDA-PBC in order to address the Aerial Physical Interaction (APhI) problem for a quadrotor UAV.  ...  The robustness of the IDA-PBC method with respect to sensor noise is also analyzed.  ...  Acknowledgements This work has been also partially funded by the European Union's Horizon 2020 research and innovation programme under grant agreement No 644271 AEROARMS.  ... 
doi:10.1177/0278364919835605 fatcat:xhbhzwztjjbibnoc752ycrdkk4

Energy-balancing-based control design for power systems

Yajie Sun, Zhengtao Ding, Hong Wang
2012 Proceedings of the 10th World Congress on Intelligent Control and Automation  
IDA-PBC is satisfied by energy-balancing, and it may be used to solve the problem of stabilization of under-actuated mechanical systems.  ...  In Chapter 4, a kind of EB-based control, specifically, IDA-PBC was attributed to Hamiltonian system.  ...  Appendix A Variables w 1 , w 2 --are disturbances of the system. δ--is the power angle of the generator, in radian. ω--is the relative speed of the generator, in rad/s.  ... 
doi:10.1109/wcica.2012.6358269 fatcat:assza62jwnf2rpotey2no2jcyq
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