Adaptive motion control of rigid robots: a tutorial
Automatica (Journal of IFAC) - Identification and systems parameter estimation
SIAM Journal on Control and Optimization
Interconnection of port-Hamiltonian systems and composition of Dirac structures
Automatica (Journal of IFAC)
Simultaneous stabilization of a set of nonlinear port-controlled Hamiltonian systems
Automatica (Journal of IFAC)
A port-Hamiltonian formulation of physical switching systems with varying constraints
Automatica (Journal of IFAC)
Shifting nonlinear phenomena in a DC-DC converter using a fuzzy logic controller
Mathematics and Computers in Simulation
Brief paper: A family of smooth controllers for swinging up a pendulum
Automatica (Journal of IFAC)
Experimental control of a single-link flexible robot arm using energy shaping
International Journal of Systems Science
Swing-up control strategies for a reaction wheel pendulum
International Journal of Systems Science
Asymptotic stabilization via control by interconnection of port-Hamiltonian systems
Automatica (Journal of IFAC)
Brief paper: On the addition of integral action to port-controlled Hamiltonian systems
Automatica (Journal of IFAC)
Energy based control of a hydromechanical system
Robotics and Autonomous Systems
Brief paper: Power-based control of physical systems
Automatica (Journal of IFAC)
ACC'09 Proceedings of the 2009 conference on American Control Conference
Stabilization of multimachine power systems via hybrid control
ACC'09 Proceedings of the 2009 conference on American Control Conference
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
CCDC'09 Proceedings of the 21st annual international conference on Chinese control and decision conference
Brief paper: Power-shaping control of reaction systems: The CSTR case
Automatica (Journal of IFAC)
Brief paper: Stabilization and shape control of a 1D piezoelectric Timoshenko beam
Automatica (Journal of IFAC)
Pseudo-spectral methods for the spatial symplectic reduction of open systems of conservation laws
Journal of Computational Physics
Brief paper: Dynamic positioning of marine craft using a port-Hamiltonian framework
Automatica (Journal of IFAC)
Power-based control: Canonical coordinate transformations, integral and adaptive control
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
Brief An energy-shaping approach to the design of excitation control of synchronous generators
Automatica (Journal of IFAC)
Adaptive L2 disturbance attenuation control of multi-machine power systems with SMES units
Automatica (Journal of IFAC)
Hamiltonian discretization of boundary control systems
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
Brief Energy-based control for hybrid port-controlled Hamiltonian systems
Automatica (Journal of IFAC)
Brief Generalized Hamiltonian realization of time-invariant nonlinear systems
Automatica (Journal of IFAC)
Backstepping Control in Vector Form for Stochastic Hamiltonian Systems
SIAM Journal on Control and Optimization
On an intrinsic formulation of time-variant Port Hamiltonian systems
Automatica (Journal of IFAC)
Passivity based control of a class of Hamiltonian systems with nonholonomic constraints
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
Local linear dynamics assignment in IDA-PBC
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
Hi-index | 22.20 |
Passivity-based control (PBC) is a well-established technique that has shown to be very powerful to design robust controllers for physical systems described by Euler-Lagrange (EL) equations of motion. For regulation problems of mechanical systems, which can be stabilized ''shaping'' only the potential energy, PBC preserves the EL structure and furthermore assigns a closed-loop energy function equal to the difference between the energy of the system and the energy supplied by the controller. Thus, we say that stabilization is achieved via energy balancing. Unfortunately, these nice properties of EL-PBC are lost when used in other applications which require shaping of the total energy, for instance, in electrical or electromechanical systems, or even some underactuated mechanical devices. Our main objective in this paper is to develop a new PBC theory which extends to a broader class of systems the aforementioned energy-balancing stabilization mechanism and the structure invariance. Towards this end, we depart from the EL description of the systems and consider instead port-controlled Hamiltonian models, which result from the network modelling of energy-conserving lumped-parameter physical systems with independent storage elements, and strictly contain the class of EL models.