Passivity-based control of mechanical systems with linear damping identification

Autor: Chan Zheng, Carmen, Borja, Luis Pablo, Scherpen, Jacquelien M.A., Macchelli, Alessandro

Publikováno v: Proceedings of the 7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (LHMNLC 2021), 255-260
STARTPAGE=255;ENDPAGE=260;TITLE=Proceedings of the 7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (LHMNLC 2021)

We propose a control approach for a class of nonlinear mechanical systems to stabilize the system under study while ensuring that the oscillations of the transient response are reduced. The approach is twofold: (i) we apply our technique for linear v

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::f84b3c97ff251babd28c25c8b928ae02
https://doi.org/10.1016/j.ifacol.2021.11.087

Control by interconnection of distributed port-Hamiltonian systems: Beyond the dissipation obstacle

Autor: Alessandro Macchelli, Luis Pablo Borja, Romeo Ortega

Publikováno v: 5th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control
5th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control, Jul 2015, Lyon, France. ⟨10.1016/j.ifacol.2015.10.221⟩

The main contribution of this paper is a general methodology for the definition of a new passive output that is instrumental for the stabilisation of a large class of distributed port-Hamiltonian systems defined on a one-dimensional spatial domain. T

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::282f11a49266b7a2c84cec0fd7c3929e
https://hal-centralesupelec.archives-ouvertes.fr/hal-01262260