Power-based control: Canonical coordinate transformations, integral and adaptive control

Dirksz, Daniel A.; Scherpen, Jacquelien M. A.

doi:10.1016/j.automatica.2012.03.003

Cited by 28 publications

(20 citation statements)

References 18 publications

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“…which is the second row of the closed-loop dynamics (14). Finally, we note that the dynamics of and´3 are equivalent.…”

Section: Proofmentioning

confidence: 86%

“…To prove the stability property P1.2, we consider H´as Lyapunov candidate function for the closed loop (14). Its time derivative is as follows:…”

Section: Proofmentioning

confidence: 99%

“…which ensures stability of the desired equilibrium. The assumption that y D1 is a detectable output of the system (14) ensures asymptotic stability of the equilibrium .q ? ; 0;˛/ [16], proving property P1.3.…”

Section: Proofmentioning

confidence: 99%

“…which allows us to write the first state equation of (14). We proceed in a similar fashion with the state transformation (21).…”

Section: Proofmentioning

confidence: 99%

“…The case of unmatched and/or time-varying disturbances is also studied in that paper, where controllers that ensure input-statestability are proposed. In [14], the addition of integral action in velocities for the particular case of constant mass matrix is considered. However, the integral action in velocities does not reject matched disturbances and creates a manifold of equilibrium, as indicated in [12].…”

Section: Introductionmentioning

confidence: 99%

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

Donaire

Romero

Ortega

et al. 2016

Int. J. Robust. Nonlinear Control

110

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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.

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“…which is the second row of the closed-loop dynamics (14). Finally, we note that the dynamics of and´3 are equivalent.…”

Section: Proofmentioning

confidence: 86%

“…To prove the stability property P1.2, we consider H´as Lyapunov candidate function for the closed loop (14). Its time derivative is as follows:…”

Section: Proofmentioning

confidence: 99%

Section: Proofmentioning

confidence: 99%

“…which allows us to write the first state equation of (14). We proceed in a similar fashion with the state transformation (21).…”

Section: Proofmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

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

Donaire

Romero

Ortega

et al. 2016

Int. J. Robust. Nonlinear Control

110

View full text Add to dashboard Cite

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Robust neuro‐adaptive cooperative control of multi‐agent port‐controlled Hamiltonian systems

El-Férik

Qureshi

Lewis

2015

Adaptive Control & Signal

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SummaryThis paper presents the distributed cooperative tracking control of the multi‐agent port‐controlled Hamiltonian (PCH) systems that are networked through a directed graph. Controller is made robust against the parametric uncertainties using neural networks. Dynamics of the the proposed novel neural network tuning law is driven by both the position and the velocity errors owing to the information preserving filtering of the Hamiltonian gradient. In addition, the PCH structure of the closed‐loop system is preserved and the controller achieves the disturbance attenuation objective. Simulations are performed on a group of robotic manipulators to demonstrate the efficacy of the proposed controller. Copyright © 2015 John Wiley & Sons, Ltd.

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Power-Based Modelling

Jeltsema

Scherpen

2012

Advances in Industrial Control

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Power-based control: Canonical coordinate transformations, integral and adaptive control

Cited by 28 publications

References 18 publications

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

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

Robust neuro‐adaptive cooperative control of multi‐agent port‐controlled Hamiltonian systems

Power-Based Modelling

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