At the end the techniques are applied to some mechanical systems. In fact, next to modifying the total energy function of the system, also the internal interconnection structure corresponding to the poisson bracket of the system is allowed to be changed. Passivitybased control of eulerlagrange systems mechanical, electrical and electromechanical applications. Distributed adaptive neural consensus tracking control for. Under some detectabilitylike conditions asymptotic stability will then follow. The dynamics of such systems is described by the eulerlagrange equation ortega et al. The final part of this thesis is dedicated to the control of infinitedimensional systems. Finally this criterion based on sobolev norms is applied to an iphd. It is well known that in systems described by eulerlagrange equations the stability of the equilibria is determined by the potential energy function. And derivation of the eulerlagrange model of a given system is also presented. Passivitybased control of rotational and translational.
In this paper, the classical augmented pd control method is extended to a passivitybased control of eulerlagrange systems with a nonquadratic lagrangian. A new lagrangian formulation with complex currents is developed and yields a direct and simple method for modeling threephase permanentmagnet and induction. Introduction to passivitybased control of eulerlagrange systems. The pedagogical style of the authors lend to the readability and the flow of. Passivitybased distributed control of networked euler. These properties motivated the development of a passivitybased controller design methodology which. Passivity is a property of engineering systems, used in a variety of engineering disciplines, but most commonly found in analog electronics and control systems. Simulation and modelling of passivity based control of pmsm under controlled voltage.
Updated content includes subjects which have proven useful in nonlinear control design in recent yearsnew in the 3rd edition are. Passivity based control encyclopedia of life support. On passivitybased output feedback global stabilization of. In writing this book he had endeavoured to supply some elementary material suitable for the needs of students who are studying the subject for the first time, and also some more advanced work which may be useful to men who are interested more in physical mathematics than in the developments of differential geometry and. Passivitybased control of robot manipulators subject to. Consider a system of kparticles, suppose that the system has a holonomic constraint, that is some of particles exposed to constraint forces fc i. Perfect tracking control for realworld eulerlagrange systems is challenging due. Passivity properties for stabilization of cascaded nonlinear systems, automatica 27 no. In this chapter we survey some recent results on control of systems described by eulerlagrange equations using a passivity approach. Theory and application on adaptiverobust control of euler. Implementation of a full bridge seriesparallel resonant. Applications to robots, ac motors and power converters the analysis of motorcycle dynamics and control a mechanical network approach to performance capabilities of passive suspensions. With so much advancement in technology, from robotics to motion planning, society can implement. The remaining of the book is divided in three parts devoted to.
This approach has the advantage over the conventional methods in the respect that it allows one to deal directly with the systems partial differential equations without resorting to approximations. In this paper, two methods of control for highvoltage full bridge seriesparallel resonant fbspr dcdc converter are proposed and the results are compared. Thanks to this unified approach, readers can access various stateoftheart research fields by. Notice that this input can be in its turn the output of another passive block. Passivitybased tracking control for uncertain nonlinear feedback systems ni bu and mingcong deng college of automation and electronic engineering, qingdao university of science and technology 53 zhengzhou road, qingdao, china graduate school of engineering, tokyo university of agriculture and technology 22416 nakacho, koganei, tokyo 1848588.
Passivitybased control and estimation in networked robotics. It is shown that the alternate passivitybased control schemes can be designed which explicitly exploit the passivity properties of the timoshenko model. Application of synchronization to formation flying. Consensus of multiple eulerlagrange systems using one eulerlagrange system s velocity measurements 23 december 2016 international journal of control, automation and systems, vol. Download passivity based control of euler lagrange systems. Passivitybased control of eulerlagrange systems book depository. Xiii passivity based control antonio loria and henk nijmeijer encyclopedia of life support systems eolss u1plays the role of an external signal to the closed loop. Passivity based distributed tracking control of networked euler. On passivitybased output feedback global stabilization of eulerlagrange systems.
Simulation and modelling of passivity based control of. 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 eulerlagrange, respectively hamiltonian, system. Model free optimal consensus control of networked eulerlagrange systems article pdf available in ieee access pp99. The pedagogical style of the authors lend to the readability and the flow of knowledge to the reader. A new edition featuring case studies and examples of the fundamentals of robot kinematics, dynamics, and control in the 2nd edition of robot modeling and control, students will cover the theoretical fundamentals and the latest technological advances in robot kinematics. Highlighting the control of networked robotic systems, this book synthesizes a unified passivitybased approach to an emerging crossdisciplinary subject. Passivitybased tracking control for uncertain nonlinear. Control control theory eulerlagrange systems modelling motor nonlinear systems passive systems passivitybased control tracking control engineering modeling robot. For eulerlagrange systems we dispose of a rather systematic procedure to carry out this task. Passivitybased control of twodimensional translational. Passivitybased control of robot manipulators subject to constraints.
A passive component, depending on field, may be either a component that consumes but does not produce energy thermodynamic passivity or a component that is incapable of power gain incremental. Then, following this, the theoretical concepts of the passivity based control are presented. We highly recommend passivitybased control of eulerlagrange systems. 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. If you cannot find it, please feel free to write me at abdul. Some considerations on the time evolution of eulerlagrange systems and an. Passivitybased control of eulerlagrange systems by romeo ortega, 9781849968522, available at book depository with free delivery worldwide. Virtual contraction and passivity based control of. Most of the physical systems, while they can be modeled by eulerlagrange equations, are subject to certain nonholonomic constraints, where the constraints are involving both the state x i. Passivity based control encyclopedia of life support systems. Then the eulerlagrange equations are derived from both newton s laws and hamilton s principle. In passivitybased control the main objective is to impose, via the control, the passivity property to some suitably defined map. Escobar, on disturbance attenuation properties of control schemes for eulerlagrange systems. Passivitybased control design is employed for 2dtora based on its eulerlagrange structure and passivity property.
This paper discusses the matching conditions resulting from the controlled lagrangians method and the interconnection and damping assignment passivity based control idapbc method. Conference on decision and control lake buena vista, fl december 1994 wa 10. Unesco eolss sample chapters control systems, robotics and automation vol. A saturating extension of an output feedback controller. There are externally applied forces fe i to the particles. This paper describes a general passivitybased framework for the control of flexible joint robots. An underactuated twodimensional translational oscillator with rotational actuator 2dtora consisting of an actuated rotational proofmass and two unactuated translational carts is presented. Recent results on torque, position, as well as impedance control of flexible joint robots are summarized, and the relations between. Dynamic and kinematic observers for output coordination. Stable gaussian process based tracking control of eulerlagrange systems. Infinitedimensional eulerlagrange and port hamiltonian systems. Mechanical, electrical and electromechanical applications romeo ortega, antonio lor a, per j. A unified passivitybased control framework for position. Cedula number camacho bernal, jose edilberto, colombia.
Passivitybased control of eulerlagrange systems mechanical. Passivitybased output synchronization of networked euler. This energy is also expressed with complex currents and can be directly used in lyapunov andor passivity based control. Further, we briefly investigate the observability of this class of eulerlagrange models, in the socalled sensorless case when the measured output is the stator current and the load torque is constant but unknown. Soft switching operation using zero current switching zcs and zero voltage switching zvs technologies is employed to decrease the losses and optimize the efficiency of converter.
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