Constructive Interconnection and Damping Assignment for Port-Controlled Hamiltonian Systems

Nunna, Kameswarie; Sassano, Mario; Astolfi, Alessandro

doi:10.1109/tac.2015.2400663

Cited by 67 publications

(53 citation statements)

References 37 publications

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“…A lot of Gif-sur-Yvette, France, e-mail: ortega@lss.supelec.fr, romerove-lazquez@lss.supelec.fr research effort has been devoted to the solution of the matching equations-see e.g., [6], [7], [8], [9], [10], [11], [12]. Also, there is a large list of applications where it has been possible to solve these equations, including (almost) all basic pendular systems considered in the literature, motors, generators, power systems, power converters, level control systems, etc.-see [13] for a partial list.…”

Section: Introductionmentioning

confidence: 99%

Shaping the Energy of Mechanical Systems Without Solving Partial Differential Equations

Donaire

Mehra²,

Ortega

et al. 2016

IEEE Trans. Automat. Contr.

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Control of underactuated mechanical systems via energy shaping is a well-established, robust design technique. Unfortunately, its application is often stymied by the need to solve partial differential equations (PDEs). In this paper a new, fully constructive, procedure to shape the energy for a class of mechanical systems that obviates the solution of PDEs is proposed. The control law consists of a first stage of partial feedback linearization followed by a simple proportional plus integral controller acting on two new passive outputs. The class of systems for which the procedure is applicable is identified imposing some (directly verifiable) conditions on the systems inertia matrix and its potential energy function. It is shown that these conditions are satisfied by three benchmark examples. Index Terms-Nonlinear systems, passivity-based control, mechanical systems, stabilization.0018-9286 (c)

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Section: Introductionmentioning

confidence: 99%

Shaping the Energy of Mechanical Systems Without Solving Partial Differential Equations

Donaire

Mehra²,

Ortega

et al. 2016

IEEE Trans. Automat. Contr.

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“…Recalling that rank(Gk v G T ) = m and employing a Schur complement argument, (24) holds true if min {Gk v G T } > 1/4 concluding the proof.…”

Section: Theorem 1 Consider System (6) Under Assumptions 1 To 3 In Cmentioning

confidence: 82%

“…24,25 Assumption 2 restricts the study to constant disturbances, which are the focus of this work. 24,25 Assumption 2 restricts the study to constant disturbances, which are the focus of this work.…”

Section: Assumptionmentioning

confidence: 99%

Adaptive IDA‐PBC for underactuated mechanical systems with constant disturbances

Franco

2018

Adaptive Control & Signal

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This work investigates the control of nonlinear underactuated mechanical systems with matched and unmatched constant disturbances. To this end, a new control strategy is proposed, which builds upon the interconnection-anddamping-assignment passivity-based control, augmenting it with an additional term for the purpose of disturbance compensation. In particular, the disturbances are estimated adaptively and then accounted for in the control law employing a new matching condition of algebraic nature. Stability conditions are discussed, and for comparison purposes, an alternative controller based on partial feedback linearization is presented. The effectiveness of the proposed approach is demonstrated with numerical simulations for three motivating examples: the inertia wheel pendulum, the disk-on-disk system, and the pendulum-on-cart system. KEYWORDS adaptive control, matched and unmatched disturbances, nonlinear control, underactuated mechanical systems Int J Adapt Control Signal Process. 2019;33:1-15.wileyonlinelibrary.com/journal/acs

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“…This process is called energy shaping. Among all the energy shaping implementation methods, interconnection and damping assignment (IDA) is the most effective strategy [20]. Unlike other nonlinear control strategies, the EB method based on IDA strategy employs the structural properties of physical systems to obtain an easily implemented control law [21].…”

Section: Introductionmentioning

confidence: 99%

An Energy-Based Control Strategy for Battery Energy Storage Systems: A Case Study on Microgrid Applications

et al. 2017

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Battery energy storage systems (BESSs) with proportional-integral (PI) control methods have been widely studied in microgrids (MGs). However, the performance of PI control methods might be unsatisfactory for BESSs due to the nonlinear characteristics of the system. To overcome this problem, an energy-based (EB) control method is applied to control the converter of a BESS in this study. The EB method is a robust nonlinear control method based on passivity theory with good performance in both transient and steady states. The detailed design process of the EB method in the BESS by adopting an interconnection and damping assignment (IDA) strategy is described. The design process comprises three steps: the construction of the port-controlled Hamiltonian model, the determination of the equilibrium point and the solution of the undetermined matrix. In addition, integral action is combined to eliminate the steady state error generated by the model mismatch. To establish the correctness and validity of the proposed method, we implement several case simulation studies based on a test MG system and compare the control performance of the EB and PI methods carefully. The case simulation results demonstrate that the EB method has better tracking and anti-disturbance performance compared with the classic PI method. Moreover, the proposed EB method shows stronger robustness to the uncertainty of system parameters.

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Constructive Interconnection and Damping Assignment for Port-Controlled Hamiltonian Systems

Cited by 67 publications

References 37 publications

Shaping the Energy of Mechanical Systems Without Solving Partial Differential Equations

Shaping the Energy of Mechanical Systems Without Solving Partial Differential Equations

Adaptive IDA‐PBC for underactuated mechanical systems with constant disturbances

An Energy-Based Control Strategy for Battery Energy Storage Systems: A Case Study on Microgrid Applications

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