Filters








57 Hits in 2.3 sec

On the PDEs arising in IDA-PBC

J.A. Acosta, A. Astol
2009 Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference  
The idea relies on the construction of an approximating integral and a dynamic extension as an alternative to solve the PDEs.  ...  In this paper we propose a methodology to replace the PDEs of Interconnection and Damping Assignment Passivity-Based Control with algebraic inequalities.  ...  The matrix Γ has been computed for ρ = 2, and (15) yields to replace nonlinear PDEs by algebraic inequalities in the context of IDA-PBC is proposed.  ... 
doi:10.1109/cdc.2009.5400580 dblp:conf/cdc/AcostaA09 fatcat:dymidbuqvvasra5umdg3qjcyjy

On the method of interconnection and damping assignment passivity-based control for the stabilization of mechanical systems

Dong Eui Chang
2014 Regulârnaâ i haoticeskaâ dinamika  
In this paper, several improvements are made on the IDA-PBC method.  ...  Interconnection and damping assignment passivity-based control (IDA-PBC) is an excellent method to stabilize mechanical systems in the Hamiltonian formalism.  ...  Marsden for his ever-lasting advice, Zhao Jin and Waiman Ng for their constructive comments, and professor Hyung-Bo Shim for his invitation to Seoul National University in August 2011, where the author  ... 
doi:10.1134/s1560354714050049 fatcat:3z6om2xfhzaspcb6afqbkanzcy

Total Energy Shaping Control of Mechanical Systems: Simplifying the Matching Equations Via Coordinate Changes

G. Viola, R. Ortega, R. Banavar, J. A. Acosta, A. Astolfi
2007 IEEE Transactions on Automatic Control  
In this paper we prove that we can eliminate or simplify the forcing term in this PDE modifying the target dynamics and introducing a change of coordinates in the original system.  ...  The success of the method relies on the possibility of solving two PDEs which identify the kinetic and potential energy functions that can be assigned to the closed-loop.  ...  BACKGROUND ON IDA-PBC AND PROBLEM FORMULATION In and (Chang et al., 2002) , it has been shown that the PDEs of the controlled Lagrangian method and IDA-PBC are the same, therefore, in the sequel we will  ... 
doi:10.1109/tac.2007.899064 fatcat:etvax7tcabfjpadxr6wxzi4vwa

Control by Interconnection and Standard Passivity-Based Control of Port-Hamiltonian Systems

Romeo Ortega, Arjan van der Schaft, Fernando Castanos, Alessandro Astolfi
2008 IEEE Transactions on Automatic Control  
In this paper we consider the PBC techniques of Control by Interconnection ( ) and Standard PBC.  ...  On the other hand, Standard PBC, which is usually derived from a uninspiring and non-intuitive "passive output generation" viewpoint, is one of the most successful controller design techniques.  ...  On the other hand, for Standard PBC their solution directly provides the "added" energy function , with a free parameter for IDA-PBC or a solution of another PDE for PS-PBC.  ... 
doi:10.1109/tac.2008.2006930 fatcat:mbmy42ykivfrlnnccc2dlh5gcm

Overcoming the Dissipation Condition in Passivity-based Control for a class of mechanical systems

Sergio Delgado, Paul Kotyczka
2014 IFAC Proceedings Volumes  
In this work, we aim at giving the closed-loop augmented Hamiltonian more structure in order to simplify the controller parametrization.  ...  The result is desired behavior at the equilibrium avoiding the solution of PDEs. Simulations and experiments demonstrate the applicability of the method.  ...  However, a series of difficulties arises in the application of the proposed augmented IDA-PBC approach: The solution of additional PDEs for the new functions n i (q) is required, the estimate of the region  ... 
doi:10.3182/20140824-6-za-1003.00499 fatcat:rcnvqcdkgbbkrk3gztdys46cqi

Solution to IDA-PBC PDEs by Pfaffian Differential Equations [article]

M. Reza J. Harandi, Hamid. D. Taghirad
2020 arXiv   pre-print
Interconnection and damping assignment passivity based control (IDA-PBC) is one of such methods in which the solution to corresponding PDEs is needed to apply it in practice.  ...  The method is applied to the PDEs of IDA-PBC in some benchmark problems such as Magnetic levitation system, Pendubot and underactuated cable driven robot to verify its applicability.  ...  Conclusions In this paper, we derived suitable solution to the PDEs arising in controller design methods such as in IDA-PBC.  ... 
arXiv:2006.14983v4 fatcat:6rw3peiaqrar7eyi2vgnaed5mu

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

Mutaz Ryalat, Dina Shona Laila
2016 European Journal of Control  
Solving the PDEs, also called the matching equations, is the main difficulty in the construction and application of the IDA-PBC.  ...  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  ...  In this paper, we develop a constructive strategy to simplify and solve the PDEs of IDA-PBC method for a class of UMSs with underactuation degree one.  ... 
doi:10.1016/j.ejcon.2015.12.001 fatcat:tphynx2de5dhnov5xdlkun4usm

Stabilization of a 2D-SpiderCrane Mechanism using Damping Assignment Passivity-based Control

Faruk Kazi, Ravi N. Banavar, Philippe Mullhaupt, Dominique Bonvin
2008 IFAC Proceedings Volumes  
The modeling of such a multiple cable mechanism is challenging due to the number of constraints arising from cable interactions.  ...  In this paper, we present a modeling and control strategy for a cable suspended structure called the 'SpiderCrane'.  ...  IDA-PBC METHODOLOGY APPLIED TO 2D SPIDERCRANE Basic Idea In this section, we briefly discuss the IDA-PBC methodology developed in ; .  ... 
doi:10.3182/20080706-5-kr-1001.00536 fatcat:xkkc6fpy5ngxvorx33dmglv6fu

Some Remarks on Interconnection and Damping Assignment Passivity- Based Control of Mechanical Systems [chapter]

G. Viola, Banavar, J. A. Acosta, A. Astolfi
2013 Taming Heterogeneity and Complexity of Embedded Control  
In this paper we prove that we can eliminate or simplify the forcing term in this PDE modifying the target dynamics and introducing a change of coordinates in the original system.  ...  The success of the method relies on the possibility of solving two PDEs which identify the kinetic and potential energy functions that can be assigned to the closed-loop.  ...  Clearly, the success of IDA-PBC relies on the possibility of solving the PDEs (3) and (4).  ... 
doi:10.1002/9780470612217.ch40 fatcat:y2xqc7cnjngudj7rknvfsyxs34

FEEDBACK STABILIZATION OF THE TORA SYSTEM VIA INTERCONNECTION AND DAMPING ASSIGNMENT CONTROL

Atilio Morillo, Miguel Ríos-Bolívar, Vivian Acosta
2008 IFAC Proceedings Volumes  
In this work, we consider the feedback stabilization problem of the so-called Translational Oscillator with a Rotational Actuator (TORA) system by applying the Interconnection and Damping Assignment (IDA  ...  To achieve this goal, the mechanical system is firstly transformed into the general port controlled Hamiltonian form and, then, the IDA design procedure is applied to synthesize the stabilizing control  ...  In this paper we consider the problem of achieving asymptotic stability of the TORA system through a control law synthesized by applying the IDA-PBC methodology.  ... 
doi:10.3182/20080706-5-kr-1001.00637 fatcat:tzpmho7vezbknoxuuj6zp47elm

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  
One important feature of IDA-PBC, stemming from its Hamiltonian (as opposed to the more classical Lagrangian) formulation, is that it provides new degrees of freedom for the solution of these equations  ...  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

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  
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  ...  Our interest is centered on systems that can be rendered linear in the velocities via a (partial) change of coordinates.  ...  Chitour for suggesting the procedure to generate the example of Proposition 4, P.  ... 
doi:10.1109/tac.2010.2042010 fatcat:pe7fu32hpnhpxiximfqlona33y

Position-feedback stabilization of mechanical systems with underactuation degree one

José Ángel Acosta, Romeo Ortega, Alessandro Astolfi
2004 IFAC Proceedings Volumes  
We consider in this paper the problem of (asymptotic) stabilization, via position feedback, of mechanical systems with underactuation degree one.  ...  In both cases we obtain very simple and intuitive position-feedback solutions that do not rely on, rather unnatural and techniquedriven, linearization or decoupling procedures but instead endows the closed-loop  ...  In (Acosta et al., 2004) a subclass of mechanical systems with underactuation degree one for which the PDEs of IDA-PBC are trivially solved was identified.  ... 
doi:10.1016/s1474-6670(17)31354-x fatcat:xgr2ihtrh5eepio2zgghnlqkte

Energy Shaping Nonlinear Acceleration Control for a Mobile Inverted Pendulum Utilizing Instability

Kazuto YOKOYAMA, Masaki TAKAHASHI
2012 Transactions of the Japan Society of Mechanical Engineers Series C  
For underactuated systems, nonlinear partial differential equations (PDEs) must be solved to derive the IDA-PBC and it is a difficult task in general.  ...  The controller can achieve various properties through energy shaping procedure of the IDA-PBC. Especially an energy function which will lead to safe operation of the MIP is proposed in this study.  ...  本研究では倒立振子型移動体の振子部分のダイナミクスに着目すれば,これを全駆動 PH システムとして扱う ことができることを示し,PDEs を解くことなく IDA-PBC 制御系を導出する. 3.  ... 
doi:10.1299/kikaic.78.1097 fatcat:hdvozeusrrcedegp7wjhrfflr4

Passivity Based Control of a Quadrotor UAV

C. Souza, G.V. Raffo, E.B. Castelan
2014 IFAC Proceedings Volumes  
The IDA-PBC controller performance is corroborated through simulation results, being compared with a backstepping controller.  ...  This work presents an IDA-PBC control methodology for a quadrotor helicopter to perform path tracking.  ...  ACKNOWLEDGMENT The authors would like to thank the Brazilian research agencies CAPES, CNPq and FAPEMIG for their financial contribution for the accomplishment of this work.  ... 
doi:10.3182/20140824-6-za-1003.02335 fatcat:rsj5uvqckbfcdahamyzjcetgai
« Previous Showing results 1 — 15 out of 57 results