Under some detectabilitylike conditions asymptotic stability will then follow. This part applied the sliding mode control to design the adaptive controller for stabilizing yaw and pitch angles for trms. Iii electromechanical systems 241 8 nestedloop passivitybased control. Passive systems are a class of processes that dissipate certain types of physical or virtual energy, defined by lyapunovlike functions. Multivalued robust tracking control of fully actuated. Find a george fenton ever after a cinderella story original motion picture soundtrack first pressing or reissue. This article proposes a robust nonlinear control based on lyapunovs redesign, whose purpose is to deal with parametric uncertainty in the resistance of the motor windings. Passivitybased distributed control of networked eulerlagrange systems with nonholonomic constraints technical report of the isis group at the university of notre dame isis09003 april, 2009 han yu and panos j. Xiii passivity based control antonio loria and henk nijmeijer encyclopedia of life support systems eolss passive systems. Suboptimal control based on passivity for eulerlagrange systems. Simulation and modelling of passivity based control of pmsm. The main contents of this thesis is to test two different control laws for a coaxial trirotor unmanned aerial vehicles uav.
We highly recommend passivity based control of euler lagrange systems. A common trait in the aforementioned results is that the coordinated tracking controller is designed by assuming that motions of vessels are disturbancefree. A hamiltonian approach for the optimal control of the. Passivitybased control of eulerlagrange systems by romeo ortega. In this paper, the classical augmented pd control method is extended to a passivitybased control of eulerlagrange systems with a nonquadratic lagrangian. Robust nonlinear control of ac brushless motor for. On passivitybased output feedback global stabilization of. Oct 27, 2004 this article deals with an example of advance control techniques applied to a biochemical system, the mathematical model and the constrains derived from the discrete implementation of a continuous control policy. The system dynamics are expressed in the braytonmoser bm form which exhibits a gradient structure with the mixedpotential function, which has the units of power. Proceedings of the asme 2011 dynamic systems and control conference and bathasme symposium on fluid power and motion control. International journal of robust and nonlinear control. Mechanical, electrical and electromechanical applications.
We highly recommend passivitybased control of eulerlagrange systems. The theory is developed on a simplified model of a bioreactor to be regulated and passivitybased control is used. The reader should rather consider this presentation as very concise image of the material cited in the bibliography. Both methods have been presented recently in the literature as means to stabilize a desired equilibrium point of an eulerlagrange system, respectively hamiltonian system, by searching for a stabilizing. Antsaklis department of electrical engineering university of notre dame notre dame, in 46556 interdisciplinary studies in intelligent. The eminent researchers born after 1920 include the winners of at least one award of the ieee control systems award, the giorgio quazza medal, the hendrik w. The communications and control engineering series reflects the major technological advances which have a great impact in the fields of communication and control. Iii electromechanical systems 241 8 nestedloop passivity based control. Robust coordinated formation for multiple surface vessels. Mechanical, electrical and electromechanical applications communications and control engineering by ortega, romeo, loria perez, julio antonio, nicklasson, per j 20 paperback on. Control control theory eulerlagrange systems modelling motor nonlinear systems passive systems passivitybased control tracking control engineering modeling robot. Passivity based nonlinear control of hydraulic actuators. Passivity based control is a common approach of his in earlier work 1, 2, 3 as well of the more recent approach of interconnection and damping assignment passivitybased control idapcb4, 5, 6 which inspired many researchers, 7, 8. Passivity based distributed control of networked euler lagrange systems with nonholonomic constraints technical report of the isis group at the university of notre dame isis09003 april, 2009 han yu and panos j.
Passivitybased control of eulerlagrange systems mechanical. We have adopted the format of theoremproofremark, which may give the. The pedagogical style of the authors lend to the readability and the flow of knowledge to the reader. Robust process control based on the passivity theoremjour dev. Abstract passive velocity field control pvfc is a control methodology for fully actuated mechanical systems, in which the.
Passivity based nonlinear control of hydraulic actuators based on an euler lagrange formulation. For eulerlagrange systems we dispose of a rather systematic procedure to carry out this task. Simulation results show that passivitybased controlled converter has characters with stability, robustness and good dynamic response at perturbation of supply and load. Mechanical, electrical and electromechanical applications, springer, london. On the basis of passivitybased control in general kinetic system, a eulerlagrange model of dcdc buck converter has been established, and hence its passivitybased control law is introduced. Designing the adaptive tracking controller for uncertain. School of mathematics and systems engineering nov 2003 msi report 03112. Mathoc mathematics mathoptimization and control math. A passivitybased powershaping control of building hvac systems. In this chapter we survey some recent results on control of systems described by eulerlagrange equations using a passivity approach. Eulerlagrange models with complex currents of threephase.
Passivitybased distributed control of networked eulerlagrange systems with nonholonomic constraints. New technological developments have created engineering problems where nonlinear effects have to be taken into account for a successful controller design. Suboptimal control based on passivity for eulerlagrange systems conference paper pdf available july 2008 with 22 reads how we measure reads. Eulerlagrange models with complex currents of threephase electrical machines and observability issues1preprint arxiv. Passivitybased control of eulerlagrange systems mechanical, electrical and electromechanical applications. Mar 27, 2014 passivity based control of euler lagrange systems 1.
This article deals with an example of advance control techniques applied to a biochemical system, the mathematical model and the constrains derived from the discrete implementation of a continuous control policy. Lanari a new separation result for a class of quadraticlike systems with application to eulerlagrange models technical communiques g. The biological interpretation of the results derived from the. Suboptimal control based on passivity for euler lagrange systems. Introduction to passivity based control of euler lagrange systems.
Distributed synchronization control to trajectory tracking. Passivity based control encyclopedia of life support. A passivitybased controller without velocity measurements for the leaderless consensus of eulerlagrange systems. Passivitybased output synchronization of networked euler. Process control introduces an emerging area in process control control system analysis and design based on the concept of passive systems. Introduction to passivitybased control of eulerlagrange systems. Mechanical, electrical and electromechanical applications romeo ortega phd, antonio loria phd, per johan nicklasson dr ing, hebertt siraramirez phd auth. Bellman control heritage award, the rufus oldenburger medal, or higher awards such as the ieee medal of honor and the national medal of science. Mechanical, electrical and electromechanical applications romeo ortega, antonio lor a, per j. Consensus algorithms, distributed coordination, and passivitybased output synchronization for networked eulerlagrange systems have been studied in 35, respectively. Passivitybased distributed control of networked euler. In the second part we center our attention on systems described by euler lagrange equations, with particular emphasis on mechanical systems, power converters.
Delft center for systems and control technical report 07033 a hamiltonian approach for the optimal control of the switching signal for a dcdc converter. In recent years, the formation control of multiple vessels is researched using the passivitybased control method included in the synchronization control approach 11. The notion of passivitybased control pbc is explained in detail also in this chapter. Passivitybased output synchronization of networked eulerlagrange systems subject to nonholonomic constraints han yu and panos j. This paper presents a framework for control of building hvac systems using a methodology based on powershaping paradigm that exploits the passivity property of a system. The international journal of robust and nonlinear control promotes development of analysis and design techniques for uncertain linear and nonlinear systems. Passivity based output synchronization of networked euler lagrange systems subject to nonholonomic constraints han yu and panos j. Observers are unnecessary for outputfeedback control of. Passivitybased control of a bioreactor system deepdyve. This paper addresses the problem of adaptive tracking control for uncertain fully actuated dynamical systems with additive disturbance fdsa based on the sliding mode. In this context, one recent representative work shows that we can synchronize the multicomposed system when only position measurements are available.
Firstly, the mathematical model of trms is rewritten in eulerlagrange forced model with uncertain parameters and input disturbances that are, respectively, the energies which depended on the mass of trms parts and the friction force, the flat cable force, the effects. Distributed synchronization control to trajectory tracking of. These ideas though well known in mechanics, were first introduced in control in the seminal paper 2 and rigorously articulated in. Control of coaxial trirotor autonomous unmanned aerial. Passivitybased control of electric motors chapter 15. Antsaklis abstract in this paper, we study the output synchronization problem of networked eulerlagrangeel systems subject to nonholonomic constraints.
It reports on the research in industrial and academic institutions around the world to exploit the new possibilities which are becoming available. We use the adaptive mechanism to adjust the uncertain parameters in sliding mode control law which can be switched to two modes depending on the sliding surface. Markov jump systems with randomly occurring uncertainties and sensor failures hao shen. The reader should rather consider this presentation as very concise image of the material. On global output feedback regulation of eulerlagrange. A passivitybased controller without velocity measurements.
Both methods have been presented recently in the literature as means to stabilize a desired equilibrium point of an euler lagrange system, respectively hamiltonian system, by searching for a stabilizing. Passivity based control encyclopedia of life support systems. Tracking control of uncertain eulerlagrange systems with finite. Eulerlagrange models with complex currents of threephase electrical machines and observability issues1. Passivitybased control of eulerlagrange systems springerlink.
A passivitybased powershaping control of building hvac. Pdf in this paper, the classical augmented pd control method is extended to a passivitybased control of eulerlagrange systems with a nonquadratic. Global output feedback tracking control of eulerlagrange systems. Romeo ortega, antonio loria, per johan nicklasson and hebertt siraramfrez. In this context, one recent representative work 6 shows that we can synchronize the multicomposed system when only position measurements are available. If you cannot find it, please feel free to write me at abdul. Oc author pierre rouchon, in collaboration with duro basic, francois malrait from schneider electric, stie. We solve the problem of global output feedback tracking control of general eulerlagrange systems without velocity measurement. Feb 01, 2012 adaptive passivity based control for maximum power extraction of standalone windmill systems adaptive passivity based control for maximum power extraction of standalone windmill systems mancilladavid, fernando.
The output feedback scheme consists of a novel nonlinear observer and any certainty equivalence tracking controller satisfying certain assumptions. By choosing appropriately the parameters in control law, the. In fact, if the velocity field is defined to be the ref. A hamiltonian approach to fault isolation in a planar. The robust controller design is based on the passivity.
Eletter on systems, control, and signal processing. Simulation and modelling of passivity based control of. A new lagrangian formulation with complex currents is developed and yields a direct and simple method for modeling threephase permanentmagnet and induction. In ortega and spong, 1989 it was proved that passivity is the key property underlying the stabi proceedings of the 20th world congress the international federation of automatic control toulouse, france, july 914, 2017 copy ight a 2017 ifac 16022 a passivitybased controller without velocity measurements for the leaderless consensus of. Adaptive passivitybased control for maximum power extraction of standalone windmill systems adaptive passivitybased control for maximum power extraction of standalone windmill systems mancilladavid, fernando. E l dzejms pedeset nijansi siva prevela eli gilic naslov originala e l james fifty shades of grey. Mechanical, electrical and electromechanical applications romeo ortega, antonio loria, per j. In passivitybased control the main objective is to impose, via the control, the passivity property to some suitably defined map. Passivity based nonlinear control of hydraulic actuators based on an eulerlagrange formulation. Mechanical, electrical and electromechanical applications for bot the researcher interested in advanced passivitybased control techniques and the engineer seeking experimentally proven techniques. Passivity based adaptive control for two link robot file. Pdf suboptimal control based on passivity for euler. The theory is developed on a simplified model of a bioreactor to be regulated and passivity based control is used.
Robust nonlinear control of ac brushless motor for electric vehicles application electric vehicles. The fundamental concept of passivity and the perspective of control as a suitable interconnection of the system with its environment are key ingredients in all the developments of the book, which is primarily aimed at control orientated graduate students and researchers, but which will also have value for both practising engineers and those. We solve the problem of global output feedback tracking control of general euler lagrange systems without velocity measurement. Mechanical, electrical and electromechanical applications for bot the researcher interested in advanced passivity based control techniques and the engineer seeking experimentally proven techniques.
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