Abstractthe dynamics of many physical processes can be suitably described by porthamiltonian ph models, where the. University of groningen on disturbance attenuation. Antsaklis abstract in this paper, we study the output synchronization structure. On passivitybased output feedback global stabilization of. If you cannot find it, please feel free to write me at abdul. In this paper, the classical augmented pd control method is extended to a passivitybased control of eulerlagrange systems with a nonquadratic lagrangian. The reader should rather consider this presentation as very concise image of the material. Pdf passivitybased distributed control of networked. Passivity based distributed tracking control of networked. Passivitybased control of rotational and translational. A numerical simulation is presen ed to show he performanc of the proposed method.
Suboptimal control based on passivity for eulerlagrange systems. We highly recommend passivitybased control of eulerlagrange systems. Stabilization and passivitybased control lecture 8 nonlinear dynamical control systems, chapter 10. In passivitybased control the main objective is to impose, via the control, the passivity property to some suitably defined map.
Mechanical, electrical and electromechanical applications communications and control engineering ortega, romeo on. Conference on decision and control lake buena vista, fl december 1994 wa 10. Passivitybased control of robotic manipulators for safe. Part of the communications and control engineering book series cce. Citeseerx on nonlinear control of eulerlagrange systems. Then the eulerlagrange equations are derived from both newton s laws and hamilton s principle. His research interests include cooperative energy management systems, passivitybased control and estimation in robotics and applied robust control.
Passivitybased control of eulerlagrange systems springerlink. Pdf passivitybased control design and experiments for a rolling. Passivitybased output synchronization of networked eulerlagrange systems subject to nonholonomic constraints han yu and panos j. Pdf suboptimal control based on passivity for euler. Theory and applications david hilljun zhao anu, robert gregg utdallas. Siraramirez, per johan nicklasson, romeo ortega, ebook format, from the dymocks online bookstore. The offline guide to taking more exclusive, manageable, pleasing, and powerful ruby applications download passivity based control of. Read passivity based control of a class of hamiltonian systems with nonholonomic constraints, automatica on deepdyve, the largest online rental service for scholarly research with thousands of academic publications available at your fingertips. We centre our attention on mechanical systems, power converters and ac motors. Pdf control by interconnection and standard passivitybased. Subsequentl we present the networked version of two different passivity based tracking controllers tha are particular cases of our method. And derivation of the eulerlagrange model of a given system is also presented.
Multiagent systems, passivitybased control, eulerlagrange systems, distributed contr l. Citeseerx document details isaac councill, lee giles, pradeep teregowda. Firstly, the dynamics of 2dtora are derived based on eulerlagrange equations. It is shown that the alternate passivitybased control schemes can be designed which explicitly exploit the passivity properties of the timoshenko model. At the end the techniques are applied to some mechanical systems. Control by interconnection and standard passivitybased. Recent results on torque, position, as well as impedance control of flexible joint robots are summarized, and the relations between the individual contributions are highlighted. Passivity based control of a class of hamiltonian systems.
Download passivity based control of euler lagrange systems. Passivity based nonlinear control of hydraulic actuators based on an eulerlagrange formulation. Passivitybased control of robot manipulators subject to. Xiii passivity based control antonio loria and henk nijmeijer encyclopedia of life support systems eolss passive systems. School of mathematics and systems engineering nov 2003 msi report 03112. He served as the general chair of the 2010 ieee multiconference on systems and control. 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. The notion of passivitybased control pbc is explained in detail also in this. Pdf passivitybased output synchronization of networked. Mechanical, electrical and electromechanical applications romeo ortega phd, antonio loria phd, per johan nicklasson dr ing, hebertt siraramirez phd auth. Introduction to passivitybased control of eulerlagrange systems. Romeo ortega, antonio loria, per johan nicklasson, hebertt siraramirez.
These properties motivated the development of a passivitybased. Passivitybased control of eulerlagrange systems mechanical, electrical and electromechanical applications. Mechanical, electrical and electromechanical applications romeo ortega, antonio lor a, per j. Antsaklis department of electrical engineering university of notre dame notre dame, in 46556 interdisciplinary studies in intelligent. Then, the controller makes the closedloop system passive, which renders the approach attractive for applications where the robot needs to safely interact with humans. Antsaklis abstract in this paper, we study the output synchronization problem of networked eulerlagrangeel systems subject to nonholonomic constraints. Control control theory eulerlagrange systems modelling motor nonlinear systems passive systems passivitybased control.
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. Motivated by constructing a damped closeloop eulerlagrange system, the controller dynamics is designed to shape the potential energy and inject. Passivitybased distributed control of networked eulerlagrange systems with nonholonomic constraints. A unified passivitybased control framework for position.
In this brief note we analyse the disturbance attenuation properties of some asymptotically stabilizing nonlinear controllers for eulerlagrange systems reported in the literature. 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. Ruby years not entituled think of memorization is a church. Pdf passivitybased control of eulerlagrange systems. Mechanical, electrical and electromechanical applications for bot the researcher interested in advanced passivitybased control techniques and the engineer seeking experimentally proven techniques. Passivitybased distributed control of networked euler. Romeo ortega, antonio loria, per johan nicklasson and hebertt siraramfrez. Buy ebook passivitybased control of eulerlagrange systems by julio antonio loria perez, hebertt j.
Passivitybased control and estimation in networked. Passivity based control, nonlinear control, disturbances, euler. Robust process control based on the passivity theoremjour dev. 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. Mechanical, electrical and electromechanical applications communications and control engineering. Passivitybased control of eulerlagrange systems mechanical. Distributed adaptive neural consensus tracking control for.
Passivitybased control design is employed for 2dtora based on its eulerlagrange structure and passivity property. This paper describes a general passivitybased framework for the control of flexible joint robots. Passivitybased output synchronization of networked euler. Passivity based nonlinear control of hydraulic actuators. A passivitybased controller without velocity measurements. Passivitybased control of twodimensional translational. Several alternative approaches have been taken to design asymptotically stabilizing controllers for these 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. On nonlinear control of eulerlagrange systems research. In view of its practical interest many researchers have concentrated on mechanical, electromechanical and power electronic systems. Survey on passivity based control of induction machine. A broad class of mechanical systems can be described by the eulerlagrange equa. It is well known that in systems described by eulerlagrange equations the stability of the equilibria is determined by the potential energy function.
Simulation and modelling of passivity based control of. This paper investigates the distributed adaptive neural consensus tracking control for multiple eulerlagrange systems with parameter uncertainties and unknown control directions. He is currently the css vice president conference activities. Proceedings of the asme 2011 dynamic systems and control conference and bathasme symposium on fluid power and motion control. Further, these equilibria are asymptotically stable if suitable damping is present in the system. New technological developments have created engineering problems where nonlinear effects have to be taken into account for a successful controller design. In this chapter we survey some recent results on control of systems described by eulerlagrange equations using a passivity approach. Disc systems and control theory of nonlinear systems, 2010 10 one step further by using center manifold theory suppose the set of eigenvalues of a. Passivity based adaptive control for two link robot file. Pdf the dynamics of many physical processes can be suitably described by porthamiltonian ph models, where the importance of the energy function.
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