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