Passivity‐based control of a magnetically levitated flexible beam

Shimizu, Toshihisa; Kobayashi, Yohji; Sasaki, Minoru; Okada, Tokuji

doi:10.1002/rnc.1343

“…With the development of robotic arm, flexible manipulators have been widely used in industrial production . They have lighter weight and better flexibility compared with rigid manipulators.…”

Section: Introductionmentioning

confidence: 99%

Partial differential equation modeling and vibration control for a nonlinear 3D rigid‐flexible manipulator system with actuator faults

Cao

¹

,

Liu

²

2019

Intl J Robust & Nonlinear

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In this paper, modeling and controlling problem for a two-link rigid-flexible manipulator in three-dimensional (3D) space is studied under actuator faults. For modeling, the dynamics of the 3D mechanical system is represented by nonlinear partial differential equations, which is first derived in infinite dimension form. Based on the nonlinear model, the controller is proposed, which can achieve joint angle control and vibration suppression control in the presence of actuator faults. The stability analysis of the closed-loop system is given based on LaSalle invariance principle. Numerical simulations illustrate the effectiveness of the proposed controller. This study will promote the development of nonlinear flexible manipulator systems in 3D space. KEYWORDS actuator faults, nonlinear PDE model, two-link rigid-flexible manipulator, 3D space Int J Robust Nonlinear Control. 2019;29:3793-3807.wileyonlinelibrary.com/journal/rnc

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“…Interconnection and damping assignment passivity-based control (IDA-PBC), first introduced in [1], is a highly popular controller design technique applicable for equilibrium stabilization of a wide class of physical systems (e.g., [2][3][4][5][6]). A comprehensive discussion of IDA-PBC may be found in [7].…”

Section: Introductionmentioning

confidence: 99%

Robust IDA-PBC for underactuated mechanical systems subject to matched disturbances

Donaire

¹

,

Romero

²

,

Ortega

³

et al. 2016

Int. J. Robust. Nonlinear Control

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The problem of robustification of interconnection and damping assignment passivity-based control for underactuated mechanical system vis-à-vis matched, constant, and unknown disturbances is addressed in the paper. This is achieved adding an outer-loop controller to the interconnection and damping assignment passivity-based control. Three designs are proposed, with the first one being a simple nonlinear PI, while the second and the third ones are nonlinear PIDs. While all controllers ensure stability of the desired equilibrium in spite of the presence of the disturbances, the inclusion of the derivative term allows us to inject further damping enlarging the class of systems for which asymptotic stability is ensured. Numerical simulations of the Acrobot system and experimental results on the disk-on-disk system illustrate the performance of the proposed controller.

show abstract

“…Interconnection and damping assignment passivity-based control (IDA-PBC), first introduced in [1], is a highly popular controller design technique applicable for equilibrium stabilization of a wide class of physical systems (e.g., [2][3][4][5][6]). A comprehensive discussion of IDA-PBC may be found in [7].…”

Section: Introductionmentioning

confidence: 99%

Robust IDA-PBC for underactuated mechanical systems subject to matched disturbances

Donaire

¹

,

Romero

²

,

Ortega

³

et al. 2016

2016 American Control Conference (ACC)

View full text Add to dashboard Cite

The problem of robustification of interconnection and damping assignment passivity-based control for underactuated mechanical system vis-à-vis matched, constant, and unknown disturbances is addressed in the paper. This is achieved adding an outer-loop controller to the interconnection and damping assignment passivity-based control. Three designs are proposed, with the first one being a simple nonlinear PI, while the second and the third ones are nonlinear PIDs. While all controllers ensure stability of the desired equilibrium in spite of the presence of the disturbances, the inclusion of the derivative term allows us to inject further damping enlarging the class of systems for which asymptotic stability is ensured. Numerical simulations of the Acrobot system and experimental results on the disk-on-disk system illustrate the performance of the proposed controller.

show abstract

Passivity‐based control of a magnetically levitated flexible beam

Cited by 6 publications

References 8 publications

Partial differential equation modeling and vibration control for a nonlinear 3D rigid‐flexible manipulator system with actuator faults

Partial differential equation modeling and vibration control for a nonlinear 3D rigid‐flexible manipulator system with actuator faults

Robust IDA-PBC for underactuated mechanical systems subject to matched disturbances

Robust IDA-PBC for underactuated mechanical systems subject to matched disturbances

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