The notion of passivitybased control pbc is explained in detail also in this chapter, underscoring its. Acknowledgements first, i would like to express my gratitude to my ph. The windows usbdvd download tool has been designed to allow you to create a bootable copy of your windows 78 iso file on a usb flash. The power load p is unknown but the parameters l,c and e are known and fixed assumption 2. Interconnection and damping assignment passivitybased control of.
It is known that the existence of optimal control depends on solvability of the socalled hamiltonja. The pedagogical style of the authors lend to the readability and the flow of knowledge to the reader. Conference on decision and control lake buena vista, fl december 1994 wa 10. Based on recent advances in contraction methods in systems and control, in this paper we present the virtual di. In this paper, we study the output synchronization problem of networked eulerlagrangeel systems subject to nonholonomic constraints. Suboptimal control based on passivity for eulerlagrange. The proposed control design is simple to be implemented in practice, because of an effective exploitation of the structure of robot dynamics. This study addresses the distributed state and output feedback coordinated tracking problem for multiple eulerlagrange systems with a moving leader in the presence of nonlinear uncertainties under a directed topology graph. I learn so much from you not only in conducting rigorous research, giving scienti c pr. Passivitybased control of eulerlagrange systems mechanical, electrical and electromechanical applications.
On passivitybased output feedback global stabilization of. Distributed average tracking of networked eulerlagrange systems article in ieee transactions on automatic control 602 february 2015 with 42 reads how we measure reads. Passivity based control encyclopedia of life support systems. Mechanical, electrical and electromechanical applications romeo ortega, antonio lor a, per j. Improving transient stability of power systems by using. It reports on the research in industrial and academic institutions around the world to exploit the new possibilities which are becoming available. Optimal sliding mode controllers for attitude stabilization. Full text of louis ferrier informatics in control automation and robotics see other formats. Passivity based control encyclopedia of life support. This paper investigates the distributed adaptive neural consensus tracking control for multiple eulerlagrange systems with parameter uncertainties and unknown control directions.
Start by entering your requirements see figure 20 and the load description see figure 15. Passivitybased control of eulerlagrange systems mechanical. Analysis and control of underactuated mechanical systems. Scribd is the worlds largest social reading and publishing site. Current eletter technical committee on discrete event systems. Lagrangian and hamiltonian methods for nonlinear control 2006. Two optimal sliding mode control laws that ensure the exponential convergence of the attitude control system are developed. The pedagogical style of the authors lend to the readability and the flow of. Mechanical, electrical and electromechanical applications communications and control engineering ortega, romeo on. Pdf suboptimal control based on passivity for euler. The nonlinear damping was injected without velocity. The controller in this paper has the advantage of global stability and robustness, moreover, we provide a passivity based on.
Romeo ortega, antonio loria, per johan nicklasson, hebertt siraramirez. University of groningen on disturbance attenuation. Edn loop compensation and decoupling design with the loop. Control problems in robotics and automation pdf free download. In the following section, we give the general background on hybrid lagrangian models that are typically used to study bipedal locomotion and control. Passivity based adaptive control for two link robot file. We highly recommend passivity based control of euler lagrange systems.
Cooperative formation control of autonomous underwater. This is a constructive design method that combines the concept of virtual systems and of di. Pdf passivitybased control of eulerlagrange systems. We show that combining this two strategies we can reduce. Readers interested in aircraft, vehicle control or various forms of walking robot will be able to learn from underactuated mechanical systems how to estimate the degree of complexity required in the control design of several classes of underactuated systems and proceed on to further generate more systematic control laws according to its methods.
We refer the readers to 4, 5 and references therein for more details on leaderless consensus problems. Passivitybased output synchronization of networked eulerlagrange systems subject to nonholonomic constraints han yu and panos j. Passivity based output synchronization of networked euler lagrange systems subject to nonholonomic constraints han yu and panos j. Eulerlagrange systems, disturbances, nonlinear control, passivity based control, feed. We first reformulate the passivitybased control design method in arcak 2007 by considering that each edge is associated with an artificial spring system instead of the usual diffusive coupling among the communicating agents. Passivitybased distributed control of networked euler.
Analytic nonlinear inverseoptimal control for eulerlagrange system jonghoon park and wan kyun chung, member, ieee abstract recent success in nonlinear control design is applied to the control of eulerlagrange systems. Passivitybased control of eulerlagrange systems book. In passivitybased control the main objective is to impose, via the control, the passivity property to some suitably defined map. Antsaklis department of electrical engineering university of notre dame notre dame, in 46556 interdisciplinary studies in intelligent. Distributed coordinated tracking with a dynamic leader for. Mar 27, 2014 passivity based control of euler lagrange systems 1. Finitetime cooperativetracking control for networked euler. Passivitybased control of a bioreactor system deepdyve. Then the control system is designed based on the energy shaping plus damping approach. This problem arises in several application domains, including the control of multiple robots, formation control of uavs, mobile sensor networks, kuramoto oscillators, and teleoperation. 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. Passivitybased control of a bioreactor system passivitybased control of a bioreactor system fossas, enric. General theory and applications to schrodinger and dirac equations with singular potentials. Pdf on jan 1, 2009, han yu and others published passivitybased distributed control of networked eulerlagrange systems with nonholonomic constraints find, read and cite all the research you.
Suboptimal control based on passivity for eulerlagrange systems. We highly recommend passivitybased control of eulerlagrange systems. Passivity based method is mostly used for swingup control design of underactuated systems with invertedpendulums 28, 90. Passivitybased control for 2dof robot manipulators with. The communications and control engineering series reflects the major technological advances which have a great impact in the fields of communication and control.
We treat this problem in the context of passivitybased control 20 exploiting the wellknown passivity property of lagrangian mechanical systems 27. Control control theory eulerlagrange systems modelling motor nonlinear systems passive systems passivitybased control tracking. Interconnection and damping assignment passivitybased control of portcontrolled hamiltonian systems. Mechanical, electrical and electromechanical applications for bot the researcher interested in advanced passivity based control techniques and the engineer seeking experimentally proven techniques. Several alternative approaches have been taken to design asymptotically stabilizing controllers for these systems. Buy ebook passivitybased control of eulerlagrange systems by julio antonio loria perez, hebertt j. First, the passivity property of the prototype robot is analyzed. I have this download passivity based control of euler lagrange systems mechanical electrical and four robotics because it seems really find item of an ehrman or timothy taylor download, who, to me, have the bread for regular standardized parks. Passivitybased control of robot manipulators subject to. Guidance, navigation, and control conference and exhibit. Passivitybased distributed control of networked eulerlagrange systems with nonholonomic constraints. Global output feedback tracking control of eulerlagrange 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. Uncertainty is managed not from the traditional reactive viewpoint, but with the development of proactive decisionsupport systems aimed at identifying robust schedules that serve as a useful guidance for the lower control level, as well as for dependent entities in a supply chain environment. Distributed average tracking of networked eulerlagrange systems. Passivitybased control of an omnidirectional mobile robot. Integral sliding mode control ismc is applied to combine the firstorder sliding mode with optimal control and is used to control quaternion based spacecraft attitude manoeuvres with. Control systems control system linear analysis passivity and sector bounds control systems nonlinear systems adaptive control tags add tags. Mechanical, electrical and electromechanical applications romeo ortega, antonio loria, per j. Mar 31, 2014 default control loop stability check the first thing you may want to do is check if the default control loop i. On nonlinear control of eulerlagrange systems research. Control objectives are both a regulation and a trajectory tracking like a standard robot motion control. In this chapter we survey some recent results on control of systems described by eulerlagrange equations using a passivity approach.
Siraramirez, per johan nicklasson, romeo ortega, ebook format, from the dymocks online bookstore. This paper studies passivitybased trajectory tracking control of an omnidirectional mobile robot. Consider the system 1 verifying the following conditions assumption 1. Analytic nonlinear inverseoptimal control for euler. Nonlinear aeroservoelastic control using eulerlagrange theory. Output synchronization control of eulerlagrange systems. 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.
Pdf passivitybased distributed control of networked. We show that combining this two strategies we can reduce the. Mechanical, electrical and electromechanical applications for bot the researcher interested in advanced passivitybased control techniques and the engineer seeking experimentally proven techniques. Most existing work in distributed control of multiagent systems focuses on linear systems with. Ortega, page 222 timeoptimal control strategies for a hybrid electric race car, s. Romeo ortega, antonio loria, per johan nicklasson and hebertt siraramfrez. The nonlinear control approaches have been divided into two families. Geometric nonlinear control and passivity based control methods are invoked for stabilization and tracking control purposes. Passivitybased control of eulerlagrange systems by romeo ortega, 9781849968522, available at book depository with free delivery worldwide. Achieving consensus of eulerlagrange agents with interconnecting delays and without velocity measurements via passivitybased control, e. Xiii passivity based control antonio loria and henk nijmeijer encyclopedia of life support systems eolss passive systems. Then we discuss three central ideas in energy and passivity based control of bipeds, namely, controlled symmetry 31. Passivitybased tracking control of eulerlagrange systems through energyshaping and damping injection has been thoroughly elaborated in 9 for statefeedback systems, while a nonlinear dynamic output feedback control approach for a class of eulerlagrange systems was suggested in 10.
The method is a synergy of the wellknown hamiltonian and lagrangian formalism together with the braytonmoser equations. The reader should rather consider this presentation as very concise image of the material. New technological developments have created engineering problems where nonlinear effects have to be taken into account for a successful controller design. Passivity based controlled actodc buck type converter. Download passivity based control of euler lagrange systems. These include flexible manipulators, walking robots, space and undersea robots. See 28 and 35 for additional applications of the passivity based control approach. A passivitybased controller without velocity measurements. Flight control systems using passivitybased control disturbance.
This paper deals with a passivitybased control for two degree of freedom2dof robot manipulators with antagonistic biarticular muscles. Stability analysis with respect to our proposed control law is. Passivity based distributed tracking control of networked. Passivitybased output synchronization of networked euler. Trajectory tracking and consensus of networks of euler. Nonlinear disturbance observers design and applications to eulerlagrange systems alireza mohammadi, horacio j.
Antsaklis abstract in this paper, we study the output synchronization problem of networked eulerlagrangeel systems subject to nonholonomic constraints. Interconnection and damping assignment passivitybased. The dynamics of such systems place them at the forefront of research in advanced control. Moreover, a passivity based approach was employed for a special example of a pendulum on a cart i. The authors first design a distributed coordinated tracking control scheme by fullstate feedback, where each follower can only share information with its neighbours. An energyprocessing viewpoint view plant as energytransformation multiport device physical systems satisfy generalized energyconservation.
Passivitybased control of robot manipulators subject to constraints khoi b ngo and robert mahony faculty of engineering and it australian national university acton, act 0200, australia email. Multivalued robust tracking control of fully actuated. On nonlinear control of eulerlagrange systems citeseerx. Pdf passivitybased control design and experiments for a rolling. In view of its practical interest many researchers have concentrated on mechanical, electromechanical and power electronic systems. The robust optimal attitude control problem for a flexible spacecraft is considered. Distributed leaderless consensus algorithms for networked.
Dongyu li, guangfu ma, wei he, wei zhang, chuanjiang li, shuzhi sam ge, distributed coordinated tracking control of multiple eulerlagrange systems by state and output feedback, pages 222221 hansheng wu, simple adaptive robust control schemes of uncertain strictfeedback nonlinear timedelay systems, pages 22222231. Finitetime cooperativetracking control for networked eulerlagrange systems article in iet control theory and applications 711. Improving transient stability of power systems by using passivitybased nonlinear statcom controller a thesis submitted in partial fulfillment of the requirements for the degree of master of technology in power control. The paper 29 develops a formulation of passivity based control using interconnection and damping assignment, or idapbc. Modern power electronic converters are involved in a very broad spectrum of applications. Distributed coordinated tracking control of multiple euler.
We centre our attention on mechanical systems, power converters and ac motors. Pdf passivitybased output synchronization of networked. Mechanical, electrical and electromechanical applications communications and control engineering 9781849968522 by ortega, romeo and a great selection of similar new, used and collectible books available now at great prices. Robust control, slidingmode control, di erential inclusion, discretetime, trajectory tracking, eulerlagrange systems, nitetime convergence, lyapunov stability, convex analysis, passivitybased controller. The class of continuous nonlinear control methods is represented by the feedbacklinearization control, dealt with in chap. Wintousb is a simple, lightweight application that allows you to install and run a windows operating system on a usb hard drive or usb flash. Distributed adaptive neural consensus tracking control for. Passivity based control, nonlinear control, disturbances, euler.