Pdf passivitybased output synchronization of networked. General theory and applications to schrodinger and dirac equations with singular potentials. Moreover, a passivity based approach was employed for a special example of a pendulum on a cart i. We treat this problem in the context of passivitybased control 20 exploiting the wellknown passivity property of lagrangian mechanical systems 27. First, the passivity property of the prototype robot is analyzed. Based on recent advances in contraction methods in systems and control, in this paper we present the virtual di. Cooperative formation control of autonomous underwater. Pdf suboptimal control based on passivity for euler.
This paper deals with a passivitybased control for two degree of freedom2dof robot manipulators with antagonistic biarticular muscles. Nonlinear aeroservoelastic control using eulerlagrange theory. The notion of passivitybased control pbc is explained in detail also in this chapter, underscoring its. On nonlinear control of eulerlagrange systems citeseerx. We highly recommend passivity based control of euler lagrange systems. Finitetime cooperativetracking control for networked euler. Pdf passivitybased control design and experiments for a rolling. Robust control, slidingmode control, di erential inclusion, discretetime, trajectory tracking, eulerlagrange systems, nitetime convergence, lyapunov stability, convex analysis, passivitybased controller. It is known that the existence of optimal control depends on solvability of the socalled hamiltonja.
Then we discuss three central ideas in energy and passivity based control of bipeds, namely, controlled symmetry 31. 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. Passivity based distributed tracking control of networked. Then the control system is designed based on the energy shaping plus damping approach. Optimal sliding mode controllers for attitude stabilization. Mechanical, electrical and electromechanical applications romeo ortega, antonio lor a, per j. Mechanical, electrical and electromechanical applications communications and control engineering ortega, romeo on. 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. Lagrangian and hamiltonian methods for nonlinear control 2006. The pedagogical style of the authors lend to the readability and the flow of knowledge to the reader. 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. It reports on the research in industrial and academic institutions around the world to exploit the new possibilities which are becoming available. Passivitybased control for 2dof robot manipulators with.
An energyprocessing viewpoint view plant as energytransformation multiport device physical systems satisfy generalized energyconservation. Distributed coordinated tracking with a dynamic leader for. Passivity based adaptive control for two link robot file. Finitetime cooperativetracking control for networked eulerlagrange systems article in iet control theory and applications 711. The proposed control design is simple to be implemented in practice, because of an effective exploitation of the structure of robot dynamics. Scribd is the worlds largest social reading and publishing site. We refer the readers to 4, 5 and references therein for more details on leaderless consensus problems. Control objectives are both a regulation and a trajectory tracking like a standard robot motion control. A passivitybased controller without velocity measurements.
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. Interconnection and damping assignment passivitybased control of. Suboptimal control based on passivity for eulerlagrange. The controller in this paper has the advantage of global stability and robustness, moreover, we provide a passivity based on. Mechanical, electrical and electromechanical applications romeo ortega, antonio loria, per j. This is a constructive design method that combines the concept of virtual systems and of di. Control systems control system linear analysis passivity and sector bounds control systems nonlinear systems adaptive control tags add tags. Distributed coordinated tracking control of multiple euler. Geometric nonlinear control and passivity based control methods are invoked for stabilization and tracking control purposes. Distributed average tracking of networked eulerlagrange systems article in ieee transactions on automatic control 602 february 2015 with 42 reads how we measure reads. Passivitybased control of eulerlagrange systems book. On passivitybased output feedback global stabilization of.
Passivitybased control of eulerlagrange systems mechanical, electrical and electromechanical applications. Improving transient stability of power systems by using. Passivitybased output synchronization of networked euler. Siraramirez, per johan nicklasson, romeo ortega, ebook format, from the dymocks online bookstore. Acknowledgements first, i would like to express my gratitude to my ph. Passivitybased output synchronization of networked eulerlagrange systems subject to nonholonomic constraints han yu and panos j.
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. Current eletter technical committee on discrete event systems. Interconnection and damping assignment passivitybased. The paper 29 develops a formulation of passivity based control using interconnection and damping assignment, or idapbc. Two optimal sliding mode control laws that ensure the exponential convergence of the attitude control system are developed. Passivity based control encyclopedia of life support systems. 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. We centre our attention on mechanical systems, power converters and ac motors. I learn so much from you not only in conducting rigorous research, giving scienti c pr. Passivitybased control of eulerlagrange systems mechanical. Analysis and control of underactuated mechanical systems. The dynamics of such systems place them at the forefront of research in advanced control. The pedagogical style of the authors lend to the readability and the flow of.
The robust optimal attitude control problem for a flexible spacecraft is considered. 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. Romeo ortega, antonio loria, per johan nicklasson and hebertt siraramfrez.
This paper investigates the distributed adaptive neural consensus tracking control for multiple eulerlagrange systems with parameter uncertainties and unknown control directions. 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. Stability analysis with respect to our proposed control law is. On nonlinear control of eulerlagrange systems research. The power load p is unknown but the parameters l,c and e are known and fixed assumption 2. We highly recommend passivitybased control of eulerlagrange systems.
This problem arises in several application domains, including the control of multiple robots, formation control of uavs, mobile sensor networks, kuramoto oscillators, and teleoperation. Several alternative approaches have been taken to design asymptotically stabilizing controllers for these systems. Mechanical, electrical and electromechanical applications for bot the researcher interested in advanced passivitybased control techniques and the engineer seeking experimentally proven techniques. Passivitybased control of robot manipulators subject to. See 28 and 35 for additional applications of the passivity based control approach.
Guidance, navigation, and control conference and exhibit. Ortega, page 222 timeoptimal control strategies for a hybrid electric race car, s. Mar 31, 2014 default control loop stability check the first thing you may want to do is check if the default control loop i. Pdf passivitybased distributed control of networked. University of groningen on disturbance attenuation. Edn loop compensation and decoupling design with the loop. Suboptimal control based on passivity for eulerlagrange systems. Passivity based control, nonlinear control, disturbances, euler. New technological developments have created engineering problems where nonlinear effects have to be taken into account for a successful controller design. Conference on decision and control lake buena vista, fl december 1994 wa 10. Control control theory eulerlagrange systems modelling motor nonlinear systems passive systems passivitybased control tracking. Start by entering your requirements see figure 20 and the load description see figure 15.
Achieving consensus of eulerlagrange agents with interconnecting delays and without velocity measurements via passivitybased control, e. Download passivity based control of euler lagrange systems. Passivity based controlled actodc buck type converter. Passivitybased control of a bioreactor system passivitybased control of a bioreactor system fossas, enric. Control problems in robotics and automation pdf free download.
Distributed adaptive neural consensus tracking control for. Trajectory tracking and consensus of networks of euler. The reader should rather consider this presentation as very concise image of the material. These include flexible manipulators, walking robots, space and undersea robots. We show that combining this two strategies we can reduce. Pdf passivitybased control of eulerlagrange systems. Output synchronization control of eulerlagrange systems.
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. The authors first design a distributed coordinated tracking control scheme by fullstate feedback, where each follower can only share information with its neighbours. 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. The method is a synergy of the wellknown hamiltonian and lagrangian formalism together with the braytonmoser equations. Eulerlagrange systems, disturbances, nonlinear control, passivity based control, feed. Full text of louis ferrier informatics in control automation and robotics see other formats. Buy ebook passivitybased control of eulerlagrange systems by julio antonio loria perez, hebertt j. In view of its practical interest many researchers have concentrated on mechanical, electromechanical and power electronic systems. Most existing work in distributed control of multiagent systems focuses on linear systems with. Antsaklis department of electrical engineering university of notre dame notre dame, in 46556 interdisciplinary studies in intelligent. Passivity based output synchronization of networked euler lagrange systems subject to nonholonomic constraints han yu and panos j. Multivalued robust tracking control of fully actuated. Passivity based method is mostly used for swingup control design of underactuated systems with invertedpendulums 28, 90.
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 class of continuous nonlinear control methods is represented by the feedbacklinearization control, dealt with in chap. Passivity based control encyclopedia of life support. Global output feedback tracking control of eulerlagrange systems. Distributed leaderless consensus algorithms for networked.
Fix a desired output voltage and compute the associated assignable equilibrium point. In this chapter we survey some recent results on control of systems described by eulerlagrange equations using a passivity approach. Consider the system 1 verifying the following conditions assumption 1. Passivitybased control of eulerlagrange systems by romeo ortega, 9781849968522, available at book depository with free delivery worldwide. 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. In passivitybased control the main objective is to impose, via the control, the passivity property to some suitably defined map. 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. In this paper, we study the output synchronization problem of networked eulerlagrangeel systems subject to nonholonomic constraints. The nonlinear control approaches have been divided into two families. 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. Passivitybased control of an omnidirectional mobile robot. Mar 27, 2014 passivity based control of euler lagrange systems 1. Analytic nonlinear inverseoptimal control for euler. Passivitybased control of a bioreactor system deepdyve.
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. The nonlinear damping was injected without velocity. 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. Antsaklis abstract in this paper, we study the output synchronization problem of networked eulerlagrangeel systems subject to nonholonomic constraints. Mechanical, electrical and electromechanical applications for bot the researcher interested in advanced passivity based control techniques and the engineer seeking experimentally proven techniques.
In the following section, we give the general background on hybrid lagrangian models that are typically used to study bipedal locomotion and control. Passivitybased distributed control of networked eulerlagrange systems with nonholonomic constraints. Romeo ortega, antonio loria, per johan nicklasson, hebertt siraramirez. Flight control systems using passivitybased control disturbance. 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. This paper studies passivitybased trajectory tracking control of an omnidirectional mobile robot. The communications and control engineering series reflects the major technological advances which have a great impact in the fields of communication and control. 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. Distributed average tracking of networked eulerlagrange systems. Interconnection and damping assignment passivitybased control of portcontrolled hamiltonian systems.