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Power-based control of physical systems

Eloísa García-Canseco, Dimitri Jeltsema, Romeo Ortega, Jacquelien M.A. Scherpen
2010 Automatica  
For the sake of illustration we sketch here the main result of García-Canseco et al. (2007) .  ...  Proposition 2 (García-Canseco et al., 2007) . Consider the dynamic equations of the tunnel diode circuit (17). Assume: A.4 min x 2î d (x 2 ) > − RC L .  ... 
doi:10.1016/j.automatica.2009.10.012 fatcat:6orvirvsbzhynkuzq3hqozqbmy

A Haptic Gearshift Interface for Cars [chapter]

Eloísa García-Canseco, Alain Ayemlong-Fokem, Alex Serrarens, Maarten Steinbuch
2010 Lecture Notes in Computer Science  
This paper presents a two degrees-of-freedom haptic interface that uses force control to reproduce the behavior of a customary lever and gearshift in automotive applications. The haptic simulation of the gear selector lever has been done by the appropriated design of virtual artificial potential functions. These functions contain parameters that have intuitive physical meaning and that can be easily adjusted to change the force sensations fed to the user. To validate our approach, experiments have been carried out.
doi:10.1007/978-3-642-14075-4_46 fatcat:wtzaj5jy6fdy7juvhvnxrwgliy

Power-Factor Compensation is Equivalent to Cyclodissipassivation

Eloisa Garcia-Canseco, Romeo Ortega, Robert Grino, Alexander Stankovic
2007 American Control Conference (ACC)  
García-Canseco and R. Ortega frequency.  ...  are with the Laboratoire des Signaux et Systèmes, SUPELEC, Plateau de Moulon, 91192, Gif-sur-Yvette, France garcia{ortega}@lss.supelec.fr R.  ... 
doi:10.1109/acc.2007.4282907 dblp:conf/acc/Garcia-CansecoO07 fatcat:rorjymjjozg2hif3oqoytjobp4

Interconnection and Damping Assignment Passivity-Based Control: A Survey

Romeo Ortega, Eloísa García-Canseco
2004 European Journal of Control  
Garcıá-Canseco The zero dynamics with respect to x 2 is unstable [41] , hence this robust output-feedback problem is far from trivial and remained open for many years. 5 Since RðxÞ is usually diagonal  ... 
doi:10.3166/ejc.10.432-450 fatcat:wvhcm45lrvckdhn2pll7taw2g4

ON CONTROL BY INTERCONNECTION OF PORT HAMILTONIAN SYSTEMS

Eloísa Garcia–Canseco, Ramkrishna Pasumarthy, Arjan van der Schaft, Romeo Ortega
2005 IFAC Proceedings Volumes  
In the standard approach of control by interconnection the plant and the controller are assumed to be passive and coupled via a power-preserving interconnectiongenerating an overall passive system with storage function the sum of the plant and controller storage functions. To achieve stabilization of a desired equilibrium one must make this point a minimum of the new storage function. Towards this end, dynamic invariants-called Casimirs-are first computed. Restricting the dynamics to the level
more » ... ets of the Casimirs, the overall storage function becomes a bona fide function of the plant states and the storage function can be shaped. Unfortunately, this procedure is applicable only if one fixes the initial conditions of the controller to some specific values. To remove this drawback we propose in this paper to carry out the stability analysis in the full plant and controller state spaces. The new storage function is then the sum of the plant and the controller Hamiltonians and an arbitrary functions of the corresponding Casimir functions. We also provide some examples which illustrate the possibilities and limitations of the new method.
doi:10.3182/20050703-6-cz-1902.00709 fatcat:fz4tpto3nngsdd2xdjpcqzvxke

Power–based control of physical systems: two case studies

Eloísa García–Canseco, Dimitri Jeltsema, Jacquelien M.A. Scherpen, Romeo Ortega
2008 IFAC Proceedings Volumes  
In a previous work (García-Canseco et al., 2006) we have extended this technique to general nonlinear systems.  ...  POWER-SHAPING CONTROL The main result of (García-Canseco et al., 2006) , which we state without proof, is contained in the following proposition. Proposition 1.  ...  CONCLUSIONS AND FUTURE WORK Two case studies illustrating the power-shaping methodology of general nonlinear systems, as recently proposed by (García-Canseco et al., 2006) , are presented.  ... 
doi:10.3182/20080706-5-kr-1001.00431 fatcat:bv3ozewnubaq3jmw72ieucwteq

Characterizing Inductive and Capacitive Nonlinear RLC Circuits: A Passivity Test

Eloisa Garcia Canseco, Dimitri Jeltsema, Romeo Ortega, Jacquelien M.A. Scherpen
2004 IFAC Proceedings Volumes  
., 2003; Garcia Canseco and Ortega, 2004) , with some preliminary investigation on stabilization included in .  ... 
doi:10.1016/s1474-6670(17)30526-8 fatcat:n647mu537jgvhkuuek7dz3qokq

Haptic Simulation of a Gear Selector Lever Using Artificial Potential Fields

Eloísa Garcia–Canseco, Alain Ayemlong–Fokem, Alex Serrarens, Maarten Steinbuch
2010 IFAC Proceedings Volumes  
In this paper, we address the problem of haptic simulation of a gear selector lever using a two degrees-of-freedom mechatronic lever. To reproduce the behavior of a customary gearshift, we propose suitable virtual artificial potential fields that generate the desired force profiles. The artificial potential functions are based on generalized sigmoid functions and contain parameters that have intuitive physical meaning and that can be easily adjusted to change the force sensations fed to the
more » ... . To validate our approach experiments have been carried out.
doi:10.3182/20100831-4-fr-2021.00075 fatcat:vsong356vfdmhbkasnvdx4erea

A Class of Nonlinear RLC Circuits Globally Stabilizable by Proportional plus Integral Controllers

Fernando Castaños, Bayu Jayawardhana, Romeo Ortega, Eloísa García-Canseco
2008 IFAC Proceedings Volumes  
In this note we identify graph-theoretic conditions which allow to write an RLC circuit as port-Hamiltonian with constant input matrices. We show that under additional monotonicity conditions of the network's components, the circuit enjoys the property of relative passivity, an extended notion of classical passivity. The property of relative passivity is then used to build simple, yet robust and globally stable, Proportional plus Integral controllers. Copyright
doi:10.3182/20080706-5-kr-1001.01047 fatcat:amlmutyosrbyveeoxpecnpzeti

Linear dynamics and control of a kinematic wobble-yoke Stirling engine

Alejandro Alvarez-Aguirre, Eloisa Garcia-Canseco, Jacquelien M.A. Scherpen
2010 49th IEEE Conference on Decision and Control (CDC)  
This paper presents a control systems approach for the modeling and control of a kinematic wobble-yoke Stirling engine. The linear dynamics of the Stirling engine are analyzed based on the dynamical model of the system, developed by the authors in [1]. We show that the Stirling engine can be viewed as a closed-loop system, where the feedback control law is given by the pressure variations in the pistons. Since the closed-loop system exhibits unstable dynamics, we design a pre-compensator to
more » ... ilize the displacements of the engine's pistons, and an observer to estimate their piston velocities.
doi:10.1109/cdc.2010.5717238 dblp:conf/cdc/Alvarez-AguirreGS10 fatcat:azdfbutcajhzdoxtamukgzqjiu

Passivity of nonlinear incremental systems: Application to PI stabilization of nonlinear RLC circuits

Bayu Jayawardhana, Romeo Ortega, Eloísa García-Canseco, Fernando Castaños
2007 Systems & control letters (Print)  
Ortega), garcia@lss.supelec.fr, eloisagc@ieee.org (E. García-Canseco), castanos@lss.supelec.fr (F. Castaños). 0167-6911/$ -see front matter © 2007 Elsevier B.V.  ... 
doi:10.1016/j.sysconle.2007.03.011 fatcat:cfa5xz4hjrenvlhuef4defon3i

Passivity of Nonlinear Incremental Systems: Application to PI Stabilization of Nonlinear RLC Circuits

Bayu Jayawardhana, Romeo Ortega, Eloisa Garcia-Canseco, Fernando Castanos
2006 Proceedings of the 45th IEEE Conference on Decision and Control  
García-Canseco and F.  ...  Passivity of Nonlinear Incremental Systems: Application to PI Stabilization of Nonlinear RLC Circuits Bayu Jayawardhana, Romeo Ortega, Eloísa García-Canseco and Fernando Castaños Abstract-It is well known  ... 
doi:10.1109/cdc.2006.377132 dblp:conf/cdc/JayawardhanaOGC06 fatcat:p3mabwvffzgxjmqylo52mlyknm

Massage Therapy of the Back Using a Real-Time Haptic-Enhanced Telerehabilitation System

Cristina Ramírez-Fernández, Victoria Meza-Kubo, Eloísa García-Canseco, Alberto L. Morán, Oliver Pabloff, David Bonilla, Nirvana Green
2017 Mobile Information Systems  
We present the usability evaluation of a haptic-enhanced telerehabilitation system for massage therapy of the back using the Vybe haptic gaming pad and the gesture sensor LEAP motion controller. The evaluated system includes features that allow for (i) administering online therapy programs, (ii) providing self-adjustable and safety treatment of back massages using a virtual environment, and (iii) saving and replaying massage sessions according to a patient's therapy program. The usability
more » ... tion with 25 older adults and 10 specialists suggests that the haptic telerehabilitation system is perceived with high usability and pleasurable user experience, while providing personalized intensity of haptic therapy in a supervised, real-time, and secure way to treat the patient. Moreover, the specialists totally agree that the system design features, such as save and play, and delimiting therapy zones are the most important for back massage therapy, while the features of regulating feedback intensity and providing/receiving a massage remotely are also important. Finally, based on their comments, five design insights aiming at improving the current version of the system were generated.
doi:10.1155/2017/5253613 fatcat:flfmldo2wzhrbi4x7dwe6svesy

Proportional Plus Integral Control for Set-Point Regulation of a Class of Nonlinear RLC Circuits

Fernando Castaños, Bayu Jayawardhana, Romeo Ortega, Eloísa García-Canseco
2009 Circuits, systems, and signal processing  
In this paper we identify graph-theoretic conditions which allow us to write a nonlinear RLC circuit as port-Hamiltonian with constant input matrices. We show that under additional monotonicity conditions on the network's components, the circuit enjoys the property of relative passivity, an extended notion of classical passivity. The property of relative passivity is then used to build simple, yet robust and globally stable, proportional plus integral controllers.
doi:10.1007/s00034-009-9103-x fatcat:pzdwji424ng7pn3hjbjyakpwty

Haptic Feedback in Motor Hand Virtual Therapy Increases Precision and Generates Less Mental Workload

Cristina Ramírez-Fernández, Alberto L. Morán, Eloísa García-Canseco
2015 Proceedings of the 9th International Conference on Pervasive Computing Technologies for Healthcare  
In this work we show that haptic feedback in upper limb motor therapy improves performance and generates a lower mental workload. To demonstrate this, two groups of participants (healthy adults and elders with hand motor problems) used a low-cost haptic device (Novint Falcon) and a non-robotic device (Leap Motion Controller). Participants conducted the same rehabilitation task by using a non-immersive virtual environment. Results show significant differences for all participants regarding
more » ... ion on the use of the haptic feedback device. Additionally, participants in the older adult group demonstrated a lower mental workload while using the haptic device (Novint Falcon). Finally, qualitative results show that participants preferred to conduct their therapy exercises by using the haptic device, as they found it more useful, easier to use and easier to learn.
doi:10.4108/icst.pervasivehealth.2015.260242 dblp:conf/ph/Ramirez-Fernandez15 fatcat:6hx23u7mmnclhcwjayiodjd5bu
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