Dynamic IDA-PBC control for weakly-coupled electromechanical systems

Ryalat, Mutaz; Laila, Dina Shona; ElMoaqet, Hisham; Almtireen, Natheer

doi:10.1016/j.automatica.2020.108880

Cited by 14 publications

(23 citation statements)

References 16 publications

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“…The following can be designed to stabilize the system and to meet the required performance of the system: J d (x), R d (x) and H d are the desired interconnection matrix, the desired damping matrix and the desired Hamiltonian, respectively. Here, we show the design of the controller based on [25], but we add coupling between the momentum state and the charge state via the interconnection matrix and state transformations as concluded in the following proposition: Proposition 5.1. The electrostatic MEMS actuator model ( 26) can be controlled and stabilized at the equilibrium point (x 1eq , 0, x 3eq by the following dynamic control law u:…”

Section: The Controller Design Based On Ida-pbc Methodsmentioning

confidence: 99%

“…The electrostatic MEMS actuator model (26) can be controlled and stabilized at the equilibrium point (

, 0,

by the following dynamic control law u:

with

and the desired Hamiltonian of the system:

where

is the integral term, and

is a constant to stabilize the system. The port-Hamiltonian system of the closed loop system is given by:

where

is a constant coupling term between the momentum and the electric charge, being the essential difference between the interconnection matrix in this design and the interconnection matrix in [ 25 ]. The term

is the damping term to asymptotically stabilize the system.…”

Section: Design Of the Controller And The Observer For The Mems Acmentioning

confidence: 99%

“…In addition, this method was used in electrostatic MEMS actuators to improve the stability and the behavior of the system. In [ 24 , 25 ], the IDA-PBC was used to control and improve the performance of an electrostatic MEMS actuator which belongs to a class of weakly-coupled electromechanical systems. As thoroughly discussed in [ 25 ], those systems are characterized by a lack of effective coupling between the mechanical and electrical subsystems.…”

Section: Introductionmentioning

confidence: 99%

“…In [ 24 , 25 ], the IDA-PBC was used to control and improve the performance of an electrostatic MEMS actuator which belongs to a class of weakly-coupled electromechanical systems. As thoroughly discussed in [ 25 ], those systems are characterized by a lack of effective coupling between the mechanical and electrical subsystems. By utilizing the coordinate transformations and introducing integral control along with damping injection, stabilization and performance enhancement as well as robustness of the system against disturbances are obtained.…”

Section: Introductionmentioning

confidence: 99%

“…Additionally, designing the controller by coordinate transformations was also used in the studies [ 26 , 27 ]. In [ 25 ], a coupling was introduced in the interconnection matrix in a magnetic levitation system to enhance the coupling between the mechanical subsystem (the momentum coordinate) and the electrical subsystem (the flux coordinate).…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

An Improved Passivity-based Control of Electrostatic MEMS Device

et al. 2020

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It is commonly known that the performance of an electrostatic microelectromechanical system (MEMS) device is limited to a specific range of the full gap distance due to the inherited “pull-in instability” phenomenon. In this work, we design a controller to extend the stabilization range of an electrostatic MEMS device and to enhance its performance. The interconnection and damping assignment-passivity based control (IDA-PBC) method is used and the controller design involves coordinate transformations and a coupling between the mechanical and electrical subsystems of the device. The method deploys a design of a speed observer to estimate the speed, which cannot be directly measured by sensors. The effectiveness of the dynamical controller is verified via numerical simulations; it is evident by the extended travel range of the parallel plates as well as the improved performance of the plates, even with a naturally lighter damping ratio.

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Section: The Controller Design Based On Ida-pbc Methodsmentioning

confidence: 99%

“…The electrostatic MEMS actuator model (26) can be controlled and stabilized at the equilibrium point (

, 0,

by the following dynamic control law u:

with

and the desired Hamiltonian of the system:

where

is the integral term, and

is a constant to stabilize the system. The port-Hamiltonian system of the closed loop system is given by:

where

is the damping term to asymptotically stabilize the system.…”

Section: Design Of the Controller And The Observer For The Mems Acmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

An Improved Passivity-based Control of Electrostatic MEMS Device

et al. 2020

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Energy shaping control of underactuated mechanical systems with fluidic actuation

Franco

Astolfi

2022

Intl J Robust & Nonlinear

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Energy shaping is a remarkably effective control strategy which can be applied to a wide range of systems, including underactuated mechanical systems. However, research in this area has generally neglected actuator dynamics. While this is often appropriate, it might result in degraded performance in the case of fluidic actuation. In this work we present some new results on energy shaping control for underactuated mechanical systems for which the control action is mediated by a pressurized ideal fluid. In particular, we introduce an extended multi-step energy shaping and damping-assignment controller design procedure that builds upon the Interconnection-and-damping-assignment Passivity-based-control methodology in a modular fashion to account for the pressure dynamics of the fluid. Stability conditions are assessed with a Lyapunov approach, the effect of disturbances is discussed, and the case of redundant actuators is illustrated. The proposed approach is demonstrated with numerical simulations for a modified version of the classical ball-on-beam example, which employs two identical cylinders, either hydraulic or pneumatic, to actuate the beam.

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Integral passivity‐based control of underactuated mechanical systems with actuator dynamics and constant disturbances

Franco

2023

Intl J Robust & Nonlinear

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This work investigates the energy shaping control of a class of underactuated mechanical systems with first-order actuator dynamics and subject to both matched and unmatched constant additive disturbances. To this end, a new nonlinear control law which includes two independent integral actions is presented.The controller design is outlined for systems with first-order actuator dynamics, and also for systems with direct actuation. The effectiveness of the proposed approach is demonstrated with numerical simulations on an inertia wheel pendulum and on a ball-on-beam system, both actuated by electric DC motors and subject to constant disturbances.

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Dynamic IDA-PBC control for weakly-coupled electromechanical systems

Cited by 14 publications

References 16 publications

An Improved Passivity-based Control of Electrostatic MEMS Device

An Improved Passivity-based Control of Electrostatic MEMS Device

Energy shaping control of underactuated mechanical systems with fluidic actuation

Integral passivity‐based control of underactuated mechanical systems with actuator dynamics and constant disturbances

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