2023 |
O'Brien T, Ferguson J, Donaire A, 'Exponentially Stable Regulation of Mechanical Systems to a Path', IFAC-PapersOnLine, Yokohama, Japan (2023) [E1]
|
|
|
2022 |
Arpenti P, Donaire A, Ruggiero F, Lippiello V, 'Uniform Global Exponential Stabilizing Passivity-Based Tracking Controller Applied to Planar Biped Robots', 2022 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), JAPAN, Kyoto (2022) [E1]
|
|
Nova |
2022 |
Teimoorzadeh A, Donaire A, Arpenti P, Ruggiero F, 'Robust energy shaping for mechanical systems with dissipative forces and disturbances', 2022 EUROPEAN CONTROL CONFERENCE (ECC), London, ENGLAND (2022) [E1]
|
|
Nova |
2021 |
Arpenti P, Donaire A, Ruggiero F, Lippiello V, 'Energy pumping-and-damping for gait robustification of underactuated planar biped robots within the hybrid zero dynamics framework', PROCEEDINGS OF THE 2020 IEEE-RAS 20TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS 2020), ELECTR NETWORK (2021) [E1]
|
|
Nova |
2021 |
Ferguson J, Donaire A, Middleton RH, 'Passive momentum observer for mechanical systems', IFAC PAPERSONLINE, Tech Univ Berlin, Berlin, GERMANY (2021) [E1]
|
|
Nova |
2021 |
Mujica M, Donaire A, Benoussaad M, Fourquet JY, 'Impedance Control for a Flexible Robot Enhanced with Energy Tanks in the port-Hamiltonian Framework', IEEE International Conference on Intelligent Robots and Systems, Prague, Czech Republic (2021) [E1]
|
|
Nova |
2020 |
Tomassini J, Junco S, Donaire A, 'Dealing with constant power loads in DC-DC power electronic converters using flatness based coordinate transformations', 2020 IEEE Congreso Bienal de Argentina (ARGENCON), Resistencia, Argentina (2020) [E1]
|
|
Nova |
2020 |
Silva GF, Donaire A, McFadyen A, Ford J, 'String Stable Integral Control of Vehicle Platoons with Actuator Dynamics and Disturbances', Proceedings of the 59th IEEE Conference on Decision and Control, Jeju, South Korea (2020) [E1]
|
|
Nova |
2020 |
Ruggiero F, Kim JT, Gutierrez-Giles A, Satici AC, Donaire A, Cacace J, et al., 'Nonprehensile Manipulation Control and Task Planning for Deformable Object Manipulation: Results from the RoDyMan Project', Informatics in Control, Automation and Robotics. 15th International Conference, ICINCO 2018, Porto, Portugal (2020) [E1]
|
|
Nova |
2020 |
Schule J, Donaire A, Sawodny O, 'Passivity-based control design for a continuum robotic manipulator with disturbances', Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020, Honolulu, Hawaii (2020) [E1]
|
|
Nova |
2019 |
Reyes-Baez R, Van Der Schaft A, Jayawardhana B, Donaire A, Perez T, 'Tracking control of marine craft in the port-hamiltonian framework: A virtual differential passivity approach', 2019 18th European Control Conference, ECC 2019, Naples, Italy (2019) [E1]
|
|
|
2019 |
Tomassini J, Junco S, Donaire A, 'IDA-PBC controller for DC-DC power electronic converters with nonlinear load enhanced with additive disturbance estimation', 12th International Conference on Integrated Modeling and Analysis in Applied Control and Automation, IMAACA 2019, Lisbon, Portugal (2019) [E1]
|
|
Nova |
2019 |
Kennedy JM, Donaire A, Ford JJ, Valentinis F, 'Suppression of Wave Disturbances and Tracking Control for Marine Systems', Proceedings of the IEEE Conference on Decision and Control, Nice, France (2019) [E1]
|
|
Nova |
2018 |
Kazantzidou C, Perez T, Donaire A, 'On the tuning of nested-structure dynamic-positioning control of a marine craft', 2017 Asian Control Conference, ASCC 2017, Gold Coast, QLD (2018) [E1]
|
|
Nova |
2018 |
Avila F, Yuz JI, Donaire A, Aguero JC, 'Constrained maximum likelihood estimation for state space sampled-data models', 2018 22nd International Conference on System Theory, Control and Computing, ICSTCC 2018 - Proceedings, Sinaia, Romania (2018) [E1]
|
|
|
2018 |
Nacusse M, Donaire A, Junco S, 'Robustifying passive closed-loop port-hamiltonian systems using observer based control', IMAACA 2018 - International Conference on Integrated Modeling and Analysis in Applied Control and Automation, Budapest, Hungary (2018) [E1]
|
|
|
2018 |
Tomassini J, Donaire A, Junco S, 'Energy-and flatness-based control of dc-dc converters with nonlinear load', International Conference on Integrated Modeling and Analysis in Applied Control and Automation, Budapest, Hungary (2018) [E1]
|
|
|
2018 |
Ferguson J, Donaire A, Ortega R, Middleton RH, 'Robust integral action of port-Hamiltonian systems', IFAC-PapersOnLine, Valparaíso, Chile (2018) [E1]
|
|
Nova |
2018 |
Ferguson J, Donaire A, Middleton RH, 'Discontinuous energy shaping control of the Chaplygin sleigh', IFAC-PapersOnLine, Valparaíso, Chile (2018) [E1]
|
|
Nova |
2017 |
Ferguson J, Donaire A, Ortega R, Middleton RH, 'Matched disturbance rejection for energy-shaping controlled underactuated mechanical systems', 2017 IEEE 56TH ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC), Melbourne, AUSTRALIA (2017) [E1]
|
|
Nova |
2017 |
Tomassini J, Donaire A, Junco S, 'A novel port-hamiltonian based design of stabilizing controller for dc-dc buck converters', International Conference on Integrated Modeling and Analysis in Applied Control and Automation (2017) [E1]
In this work we present a port-Hamiltonian supported control system design aimed at stabilizing a DC-DC Buck converter driving a nonlinear dissipative load. A desired closed-loop ... [more]
In this work we present a port-Hamiltonian supported control system design aimed at stabilizing a DC-DC Buck converter driving a nonlinear dissipative load. A desired closed-loop dynamics in the form of a port-Hamiltonian system is proposed, whose parameterization enforces the asymptotic stability of the desired equilibrium point. Moreover, the closed loop incorporates a first order dynamic extension allowing to reject constant disturbances on the load side. We prove that the closed loop is ISS respect to unmatched disturbances. To extend this property to disturbances acting on the supply side we add a standard PI output regulator to the previous closed loop. The performance of the closed loop is verified via simulation.
|
|
|
2017 |
Tomassini J, Donaire A, Junco S, Perez T, 'A port-Hamiltonian approach to exponential stabilisation and disturbance rejection of a DC-DC buck converter with a nonlinear load', 2017 11TH ASIAN CONTROL CONFERENCE (ASCC), Gold Coast, AUSTRALIA (2017) |
|
|
2017 |
Ferguson J, Donaire A, Knorn S, Middleton RH, 'Decentralized control for l(2) weak string stability of vehicle platoon', IFAC PAPERSONLINE, Toulouse, FRANCE (2017) [E1]
|
|
Nova |
2017 |
Guadalupe Romero J, Donaire A, Ortega R, Borja P, 'Global Stabilisation of Underactuated Mechanical Systems via PID Passivity-Based Control', IFAC PAPERSONLINE, Toulouse, FRANCE (2017) [E1]
|
|
|
2017 |
Tomassini J, Donaire A, Junco S, 'A novel port-hamiltonian based design of stabilizing controller for dc-dc buck converters', International Conference on Integrated Modeling and Analysis in Applied Control and Automation (2017)
In this work we present a port-Hamiltonian supported control system design aimed at stabilizing a DC-DC Buck converter driving a nonlinear dissipative load. A desired closed-loop ... [more]
In this work we present a port-Hamiltonian supported control system design aimed at stabilizing a DC-DC Buck converter driving a nonlinear dissipative load. A desired closed-loop dynamics in the form of a port-Hamiltonian system is proposed, whose parameterization enforces the asymptotic stability of the desired equilibrium point. Moreover, the closed loop incorporates a first order dynamic extension allowing to reject constant disturbances on the load side. We prove that the closed loop is ISS respect to unmatched disturbances. To extend this property to disturbances acting on the supply side we add a standard PI output regulator to the previous closed loop. The performance of the closed loop is verified via simulation.
|
|
|
2016 |
Donaire A, Ortega R, Romero JG, 'Simultaneous interconnection and damping assignment passivity-based control of mechanical systems using dissipative forces', Proceedings of the 2016 American Control Conference, Boston, MA (2016)
|
|
Nova |
2016 |
Donaire A, Romero JG, Ortega R, Siciliano B, 'Robust IDA-PBC for underactuated mechanical systems subject to matched disturbances', Proceedings of the 2016 American Control Conference, Boston, MA (2016) [E1]
|
|
Nova |
2016 |
Crespo M, Donaire A, Ruggiero F, Lippiello V, Siciliano B, 'Design, Implementation and Experiments of a Robust Passivity-based Controller for a Rolling-balancing System', ICINCO: PROCEEDINGS OF THE 13TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL 2, Lisbon, PORTUGAL (2016) [E1]
|
|
Nova |
2016 |
Ferguson J, Donaire A, Middleton RH, 'Switched Passivity Based Control of the Chaplygin Sleigh', IFAC-PapersOnLine (2016) [E1]
In this paper, a switched controller for the Chaplygin Sleigh system based on passivity and energy shaping is presented. The Chaplygin sleigh cannot be asymptotically stabilised w... [more]
In this paper, a switched controller for the Chaplygin Sleigh system based on passivity and energy shaping is presented. The Chaplygin sleigh cannot be asymptotically stabilised with a smooth control law, since Brockett's necessary conditions for smooth stabilisation is not satisfied. To asymptotically stabilise the origin, two potential energy shaping control laws are developed that render the system asymptotically stable to two equilibrium manifolds, which intersect at the origin. A switching strategy between the energy shaping controllers is derived that ensures the system converges to the intersection of the equilibrium manifolds.
|
|
Nova |
2015 |
Donaire A, Romero JG, Perez T, Ortega R, 'Smooth stabilisation of nonholonomic robots subject to disturbances', Proceedings - IEEE International Conference on Robotics and Automation (2015) [E1]
In this paper, we address the problem of stabilisation of robots subject to nonholonommic constraints and external disturbances using port-Hamiltonian theory and smooth time-invar... [more]
In this paper, we address the problem of stabilisation of robots subject to nonholonommic constraints and external disturbances using port-Hamiltonian theory and smooth time-invariant control laws. This should be contrasted with the commonly used switched or time-varying laws. We propose a control design that provides asymptotic stability of an manifold (also called relative equilibria) - due to the Brockett condition this is the only type of stabilisation possible using smooth time-invariant control laws. The equilibrium manifold can be shaped to certain extent to satisfy specific control objectives. The proposed control law also incorporates integral action, and thus the closed-loop system is robust to unknown constant disturbances. A key step in the proposed design is a change of coordinates not only in the momentum, but also in the position vector, which differs from coordinate transformations previously proposed in the literature for the control of nonholonomic systems. The theoretical properties of the control law are verified via numerical simulation based on a robotic ground vehicle model with differential traction wheels and non co-axial centre of mass and point of contact.
|
|
Nova |
2015 |
Donaire A, Romero JG, Perez T, 'Passivity-based trajectory-tracking for marine craft with disturbance rejection', IFAC Proceedings Volumes (IFAC-PapersOnline) (2015) [E1]
© 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.This paper presents a Hamiltonian model of marine vehicle dynamics in six... [more]
© 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.This paper presents a Hamiltonian model of marine vehicle dynamics in six degrees of freedom in both body-fixed and inertial momentum coordinates. The model in body-fixed coordinates presents a particular structure of the mass matrix that allows the adaptation and application of passivity-based control interconnection and damping assignment design methodologies developed for robust stabilisation of mechanical systems in terms of generalised coordinates. As an example of application, we follow this methodology to design a passivity-based tracking controller with integral action for fully actuated vehicles in six degrees of freedom. We also describe a momentum transformation that allows an alternative model representation that resembles general port-Hamiltonian mechanical systems with a coordinate dependent mass matrix. This can be seen as an enabling step towards the adaptation of the theory of control of port-Hamiltonian systems developed in robotic manipulators and multi-body mechanical systems to the case of marine craft dynamics.
|
|
Nova |
2015 |
Romero JG, Donaire A, Navarro-Alarcon D, Ramirez V, 'Passivity-based tracking controllers for mechanical systems with active disturbance rejection', IFAC Proceedings Volumes (IFAC-PapersOnline) (2015) [E1]
© 2015 IFAC.The main purpose of this paper is to investigate the robustness of tracking controllers for mechanical systems vis-a-vis external disturbances. The controllers designe... [more]
© 2015 IFAC.The main purpose of this paper is to investigate the robustness of tracking controllers for mechanical systems vis-a-vis external disturbances. The controllers designed are obtained by modifying a change of coordinates recently proposed for robust energy shaping controller. This type of change of coordinates allows to assign damping in all the states when the closed loop is written in port-Hamiltonian form. This feature simplify the stability analysis by ensure that the Hamiltonian function is a strict Lyapunov function of the closed loop. Moreover, robustness of the closed loop against external disturbances is ensured. This result is also extended for mechanical systems interacting with elastic environments and linear deformation. The robust properties are preserved adding terms in the control law via the new change of coordinates.
|
|
Nova |
2015 |
Ferguson J, Middleton RH, Donaire A, 'Disturbance rejection via control by interconnection of port-Hamiltonian systems', 2015 54TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC), Osaka, JAPAN (2015) [E1]
|
|
Nova |
2015 |
Donaire L, Mehra A, Ortega O, Satpute U, Romero OG, Kazi A, Singh MN, 'Shaping the energy of mechanical systems without solving partial differential equations', Proceedings of the American Control Conference (2015) [E1]
Control of underactuated mechanical systems via energy shaping is a well-established, robust design technique. Unfortunately, its application is often stymied by the need to solve... [more]
Control of underactuated mechanical systems via energy shaping is a well-established, robust design technique. Unfortunately, its application is often stymied by the need to solve partial differential equations (PDEs). In this paper a new, fully constructive, procedure to shape the energy for a class of mechanical systems that obviates the solution of PDEs is proposed. The control law consists of a first stage of partial feedback linearization followed by a simple proportional plus integral controller acting on two new passive outputs. The class of systems for which the procedure is applicable is identified imposing some (directly verifiable) conditions on the systems inertia matrix and its potential energy function. It is shown that these conditions are satisfied by three benchmark examples.
|
|
|
2014 |
Knorn S, Donaire AG, Aguero JC, Middleton R, 'Scalability of Bidirectional Vehicle Strings with Measurement Errors', Proceedings of the 19th IFAC World Congress, 2014, Cape Town, South Africa (2014) [E1]
|
|
Nova |
2014 |
Donaire AG, Perez T, Bartlett N, 'Tracking Control of a Class of Hamiltonian Mechanical Systems with Disturbances', Proceedings of the Australasian Conference on Robotics and Automation 2014, Melbourne, Australia (2014) [E2]
|
|
|
2013 |
Knorn S, Donaire A, Aguero JC, Middleton RH, 'Energy-based control of bidirectional vehicle strings', 2013 3rd Australian Control Conference (AUCC), Perth, Australia (2013) [E1]
|
|
Nova |
2013 |
Teo YR, Donaire A, Perez T, 'Regulation and Integral Control of an Underactuated Robotic System Using IDA-PBC with Dynamic Extension', 2013 IEEE/ASME International Conference On Advanced Intelligent Mechatronics (AIM). Mechatronics For Human Wellbeing, Wollongong, Australia (2013) [E1]
|
|
Nova |
2013 |
Valentinis F, Donaire A, Perez T, 'Control of an underactuated-slender-hull unmanned underwater vehicle using Port-Hamiltonian Theory', 2013 IEEE/ASME International Conference On Advanced Intelligent Mechatronics: Mechatronics For Human Wellbeing, Wollongong, Australia (2013) [E1]
|
|
Nova |
2013 |
Perez T, Donaire A, Renton C, Valentinis F, 'Energy-Based Motion Control of Marine Vehicles Using Interconnection and Damping Assignment Passivity-Based Control - a Survey', Control Applications in Marine Systems, Osaka, Japan (2013) [E2]
|
|
Nova |
2013 |
Donaire A, Perez T, 'Energy-Based Nonlinear Control of Ship Roll Gyro-Stabiliser with Precession Angle Constraints', Control Applications in Marine Systems, Osaka, Japan (2013) [E1]
|
|
Nova |
2012 |
Donaire AG, Perez T, Teo YR, 'Robust speed tracking control of synchronous motors using immersion and invariance', 2012 7th IEEE Conference on Industrial Electronics and Applications (ICIEA), Singapore (2012) [E1]
|
|
Nova |
2012 |
Renton CP, Teo YR, Donaire AG, Perez T, 'Active control of car suspension systems using IDA-PBC', Australian Control Conference 2012, Sydney, Australia (2012) [E1]
|
|
Nova |
2012 |
Romero JG, Donaire AG, Ortega R, 'Simplifying robust energy shaping controllers for mechanical systems via coordinate changes', Proceedings of the 4th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control, Bertinoro, Italy (2012) [E1]
|
|
Nova |
2012 |
Romero JG, Donaire AG, Ortega R, 'Robustifying energy shaping control of mechanical systems', Proceedings of the 51st IEEE Conference on Decision and Control, Maui, Hawaii (2012) [E1]
|
|
Nova |
2011 |
Perez T, Donaire A, de Lamberterie P, Williams B, 'Joint motion control and control allocation design for UAS flight control systems', AIAA Infotech at Aerospace Conference and Exhibit 2011 (2011)
As Unmanned Aircraft Systems (UAS) grow in complexity, and their level of autonomy increases-moving away from the concept of a remotely piloted systems and more towards autonomous... [more]
As Unmanned Aircraft Systems (UAS) grow in complexity, and their level of autonomy increases-moving away from the concept of a remotely piloted systems and more towards autonomous systems-there is a need to further improve reliability and tolerance to faults. The traditional way to accommodate actuator faults is by using standard control allocation techniques as part of the flight control system. The allocation problem in the presence of faults often requires adding constraints that quantify the maximum capacity of the actuators. This in turn requires on-line numerical optimisation. In this paper, we propose a framework for joint allocation and constrained control scheme via vector input scaling. The actuator configuration is used to map actuator constraints into the space of the aircraft generalised forces, which are the magnitudes demanded by the flight controller. Then by constraining the output of controller, we ensure that the allocation function always receive feasible demands. With the proposed framework, the allocation problem does not require numerical optimisation, and since the controller handles the constraints, there is not need to implement heuristics to inform the controller about actuator saturation. © 2011 by The University Of Newcastle, Australia and Boeing Defence Australia. Published by the American Institute of Aeronautics and Astronautics, Inc.
|
|
|
2011 |
De Lamberterie P-EM, Perez T, Donaire AG, 'A low-complexity flight controller for unmanned aircraft systems with constrained control allocation', Proceedings of the 2011 Australian Control Conference, AUCC 2011, Melbourne, Vic (2011) [E1]
|
|
|
2011 |
Donaire AG, Perez T, Renton CP, 'Manoeuvring control of fully-actuated marine vehicles. A Port-Hamiltonian system approach to tracking', Proceedings of the 2011 Australian Control Conference, AUCC 2011, Melbourne, VIC (2011) [E1]
|
|
|
2011 |
Perez T, Donaire AG, De Lamberterie P-EM, Williams B, 'A framework for testing robust autonomy of UAS during design and certification', AIAA Infotech@Aerospace 2011 Online Proceeding, St Louis, Missouri (2011) [E2]
|
|
|
2011 |
Perez T, Donaire AG, De Lamberterie P-EM, Williams B, 'Joint motion control and control allocation design for UAS flight control systems', AIAA Infotech@Aerospace 2011 Online Proceeding, St Louis, Missouri (2011) [E2]
|
|
|
2010 |
Perez T, Donaire A, 'Control design for positioning of underwater vehicles with control allocation', International Maritime Conference 2010 Program and Abstract Book: Maritime Industry - Challenges, Opportunities and Imperatives, Sydney, NSW (2010) [E2] |
|
Nova |
2010 |
Perez T, De Lamberterie P, Donaire A, Herrero ER, 'Parameter estimation of thrust models of uninhabited airborne systems', IFAC Proceedings Volumes (IFAC-PapersOnline) (2010)
This paper presents a method for the estimation of thrust model parameters of uninhabited airborne systems using specific flight tests. Particular tests are proposed to simplify t... [more]
This paper presents a method for the estimation of thrust model parameters of uninhabited airborne systems using specific flight tests. Particular tests are proposed to simplify the estimation. The proposed estimation method is based on three steps. The first step uses a regression model in which the thrust is assumed constant. This allows us to obtain biased initial estimates of the aerodynamic coefficients of the surge model. In the second step, a robust nonlinear state estimator is implemented using the initial parameter estimates, and the model is augmented by considering the thrust as random walk. In the third step, the estimate of the thrust obtained by the observer is used to fit a polynomial model in terms of the propeller advanced ratio. We consider a numerical example based on Monte-Carlo simulations to quantify the sampling properties of the proposed estimator given realistic flight conditions.
|
|
|
2010 |
Perez T, De Lamberterie P-EM, Donaire AG, Revestido-Herrero E, 'Parameter estimation of thrust models of uninhabited vehicles and systems', 7th IFAC Symposium on Intelligent Autonomous Vehicles, Lecce, Italy (2010) [E1]
|
|
Nova |
2010 |
Perez T, Donaire AG, Williams BP, 'On evaluation of robust autonomy of uninhabited vehicles and systems', 7th IFAC Symposium on Intelligent Autonomous Vehicles, Lecce, Italy (2010) [E1]
|
|
Nova |
2010 |
Donaire AG, Perez T, 'Port Hamiltonian Theory of motion control for marine craft', 8th IFAC Conference on Control Applications in Marine Systems, Rostock, Germany (2010)
|
|
|
2010 |
Perez T, Donaire A, Willams BP, 'On Evaluation of Robust Autonomy for Uninhabited Vehicles and Systems', IFAC Proceedings Volumes (2010)
|
|
|
2008 |
Nacusse MA, Junco SJ, Donaire AG, 'AUTOMATIZANDO EL MODELADO Y SIMULACION CON BOND GRAPHS DE SISTEMAS FISICOS CONMUTADOS', Mecanica Computacional, San Luis, Argentina (2008) [E1] |
|
|
2008 |
Junco S, Rahmani A, Hihi H, Donaire AG, 'On the stability of a class of switches bond graphs', Proceedings 22nd European Conference on Modelling and Simulation, Nicosia, Cyprus (2008) [E1]
|
|
|
2006 |
Achir A, Junco S, Donaire A, Sueur C, 'A bond-graph method for flatness-based dynamic feedback linearization controller synthesis: Application to a current-fed induction motor', 20TH EUROPEAN CONFERENCE ON MODELLING AND SIMULATION ECMS 2006, Bonn Rhein Sige Univ Appl Sci, Bonn, GERMANY (2006)
|
|
|
2006 |
Donaire A, Junco S, 'Energy shaping and interconnection and damping assignment control in the bond graph domain', 20TH EUROPEAN CONFERENCE ON MODELLING AND SIMULATION ECMS 2006, Bonn Rhein Sige Univ Appl Sci, Bonn, GERMANY (2006) [E1]
|
|
|
2006 |
Achir A, Junco S, Donaire AG, Sueur C, 'A Bond-Graph Method for Flatness-Based Dynamic Feedback Linearization Controller Synthesis: Application to a Current-Fed Induction Motor', Proceedings 20th European Conference on Modelling and Simulation, Sankt Augustin, Alemania (2006) [E1] |
|
|
2005 |
Donaire A, Junco SJ, 'Deriving Port-Controlled Hamiltonian Models with dissipation from Bond Graphs', International Conference on Integrated Modeling and Analysis in Applied Control and Automation, IMAACA 2005, Held at the International Mediterranean Modeling Multiconference, I3M 2005 (2005)
This paper presents the formulation of Port- Controlled Hamiltonian Models from Bond Graphs. For this, the general abstract field representation of BG and its associated standard ... [more]
This paper presents the formulation of Port- Controlled Hamiltonian Models from Bond Graphs. For this, the general abstract field representation of BG and its associated standard implicit form are used in order to establish a connection among variables in both domains. This correspondence can be useful to translate energy- and powershaping control system design methods available on one domain into the other. Some examples illustrate the techniques and formulæ presented.
|
|
|
2002 |
Junco S, Donaire A, Garnero G, 'Speed control of series DC motor: A bond graph based backstepping design', Proceedings of the IEEE International Conference on Systems, Man and Cybernetics (2002)
A speed-tracking problem is solved on a series DC-motor via a bond graph based backstepping technique. A switched excitation circuit allowing for field-weakening demands two desig... [more]
A speed-tracking problem is solved on a series DC-motor via a bond graph based backstepping technique. A switched excitation circuit allowing for field-weakening demands two designs, each of them being accomplished via a basic methodology combining backstepping and an elementary tracking design. A Lyapunov-redesign method is further applied in order to assure closed loop asymptotic stability of the whole system. The essential BG concepts and techniques used in the methods are minimal paths, bicausality and I-O inversion. The bond graph technique gives physical insight into the choice of the intermediate variables for the backstepping design. The controller performance is shown with the help of digital simulation results.
|
|
Nova |