Journal articles: 'Interconnection And Damping Assigning Passivity Based Control (IDA-PBC)'

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Ryalat, Mutaz, Hazem Salim Damiri, and Hisham ElMoaqet. "Particle Swarm Optimization of a Passivity-Based Controller for Dynamic Positioning of Ships." Applied Sciences 10, no. 20 (October 19, 2020): 7314. http://dx.doi.org/10.3390/app10207314.

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Dynamic positioning (DP) control system is an essential module used in offshore ships for accurate maneuvering and maintaining of ship’s position and heading (fixed location or pre-determined track) by means of thruster forces being generated by controllers. In this paper, an interconnection and damping assignment-passivity based control (IDA-PBC) controller is developed for DP of surface ships. The design of the IDA-PBC controller involves a dynamic extension utilizing the coordinate transformation which adds damping to some coordinates to ensure asymptotic stability and adds integral action to enhance the robustness of the system against disturbances. The particle swarm optimization (PSO) technique is one of the the population-based optimization methods that has gained the attention of the control research communities and used to solve various engineering problems. The PSO algorithm is proposed for the optimization of the IDA-PBC controller. Numerical simulations results with comparisons illustrate the effectiveness of the new PSO-tuned dynamic IDA-PBC controller.

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Ramlan, N. H., N. A. Azli, and N. F. A. A. Hafidz. "Performance of Interconnection and Damping Assignment Passivity-Based Controller on Inverter Circuits." International Journal of Power Electronics and Drive Systems (IJPEDS) 8, no. 1 (March 1, 2017): 69. http://dx.doi.org/10.11591/ijpeds.v8.i1.pp69-80.

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This paper presents an extension work on the application of interconnection and damping assignment passivity-based controller (IDA-PBC) from the conventional H-bridge inverter to a 5-level Cascaded H-bridge Multilevel Inverter (CHMI). With the controller, the inductor current and the voltage capacitor track the desired reference of the inverter to ensure that the output voltage maintains its regulation while the Total Harmonic Distortion (THD) is kept at low levels with fast transient response. It is designed based on the Port-Control Hamiltonian theory exploiting the dissipation properties of the averaged model of inverter circuits. The results obtained have proven that the IDA-PBC previously developed for the H-bridge inverter can be easily extended and applied to the CHMI circuit. The simulation results showed that the IDA-PBC is able to maintain the output voltage regulation in both circuits in the case of no-load to full-load condition, load uncertainty, and structural uncertainty while maintaining THD of less than 5%. However, in all cases, CHMI has shown better performance in terms of THD percentage and transient response compared to the H-bridge inverter, which are 290 µs and 150 µs respectively.

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Cieza, Oscar, and Johann Reger. "Algebraic IDA-PBC for Polynomial Systems with Input Saturation: An SOS-based Approach." Revista Politécnica 42, no. 2 (January 31, 2019): 23–30. http://dx.doi.org/10.33333/rp.vol42n2.1016.

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The necessity to deal with partial differential equations (PDEs) and the dissipation condition are the mainadversities in the application of Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC). Recently,an algebraic solution of IDA-PBC has been explored for a class of affine polynomial systems by using sum of squares(SOS) and semidefinite programming (SDP). In this work, we extend the previous method by incorporating actuatorsaturation (AS) and two minimization objectives in the SDP. Our results are validated on two polynomial systems.

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García, Diego, Jesús Sandoval, Joaquín Gutiérrez–Jagüey, and Eusebio Bugarin. "Control IDA-PBC de un Vehículo Submarino Subactuado." Revista Iberoamericana de Automática e Informática industrial 15, no. 1 (December 5, 2017): 36. http://dx.doi.org/10.4995/riai.2017.8829.

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<p>En este trabajo se presenta el diseño de un IDA-PBC (Interconnection and Damping Assignment-Passivity Based Control) para la regulación de un vehículo submarino subactuado. Se consideran seis grados de libertad y cuatro propulsores como actuadores, lo cual es un desafío para su control de movimiento. Específicamente, el IDA-PBC diseñado permite llevar el vehículo a una profundidad y orientación deseadas y constantes. Resultados de simulación sobre el modelo del vehículo submarino utilizado validan el desempeño del sistema de control propuesto.</p>

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Yüksel, Burak, Cristian Secchi, Heinrich H. Bülthoff, and Antonio Franchi. "Aerial physical interaction via IDA-PBC." International Journal of Robotics Research 38, no. 4 (March 17, 2019): 403–21. http://dx.doi.org/10.1177/0278364919835605.

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This paper proposes the use of a novel control method based on interconnection and damping assignment–passivity-based control (IDA-PBC) in order to address the aerial physical interaction (APhI) problem for a quadrotor unmanned aerial vehicle (UAV). The apparent physical properties of the quadrotor are reshaped in order to achieve better APhI performances, while ensuring the stability of the interaction through passivity preservation. The robustness of the IDA-PBC method with respect to sensor noise is also analyzed. The direct measurement of the external wrench, needed to implement the control method, is compared with the use of a nonlinear Lyapunov-based wrench observer and advantages/disadvantages of both methods are discussed. The validity and practicability of the proposed APhI method is evaluated through experiments, where for the first time in the literature, a lightweight all-in-one low-cost force/torque (F/T) sensor is used onboard of a quadrotor. Two main scenarios are shown: a quadrotor responding to external disturbances while hovering (physical human–quadrotor interaction), and the same quadrotor sliding with a rigid tool along an uneven ceiling surface (inspection/painting-like task).

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Ma, Xian Qin, Jiu He Wang, and Ting Ting Dong. "Research on a Nonlinear Control Strategy for Three-Phase Voltage Sources PWM Rectifier with Resistive and Inductive Load." Advanced Materials Research 860-863 (December 2013): 2385–89. http://dx.doi.org/10.4028/www.scientific.net/amr.860-863.2385.

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The mathematical model of three-phase voltage sources Pulse Width Modulation (PWM) rectifier is nonlinear, in view of the traditional linear control strategys weak disturbance-rejection ability with resistive and inductive load, a new passivity-based control strategy was proposed according to passivity-based control theory. Energy shaping method based on PCHD (Port Control Hamiltonian with Dissipation) model and the IDA-PBC (Interconnection and Damping Assignment Passivity Based Control) control algorithm is adopted to design passivity-based controller, which is able to make the energy function have the minimum value when rectifier is at the desired point, thus improving the stability and the load disturbance-rejection ability. Simulation results show that passivity-based control method can make this system possess the high-performance of robustness and dynamic.

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Ryalat, Mutaz, Hazem Salim Damiri, Hisham ElMoaqet, and Imad AlRabadi. "An Improved Passivity-based Control of Electrostatic MEMS Device." Micromachines 11, no. 7 (July 16, 2020): 688. http://dx.doi.org/10.3390/mi11070688.

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It is commonly known that the performance of an electrostatic microelectromechanical system (MEMS) device is limited to a specific range of the full gap distance due to the inherited “pull-in instability” phenomenon. In this work, we design a controller to extend the stabilization range of an electrostatic MEMS device and to enhance its performance. The interconnection and damping assignment-passivity based control (IDA-PBC) method is used and the controller design involves coordinate transformations and a coupling between the mechanical and electrical subsystems of the device. The method deploys a design of a speed observer to estimate the speed, which cannot be directly measured by sensors. The effectiveness of the dynamical controller is verified via numerical simulations; it is evident by the extended travel range of the parallel plates as well as the improved performance of the plates, even with a naturally lighter damping ratio.

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Zhang, Jiexin, Pingyun Nie, and Bo Zhang. "An improved IDA-PBC method with link-side damping injection and online gravity compensation for series elastic actuator." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 236, no. 2 (October 13, 2021): 1244–54. http://dx.doi.org/10.1177/09544062211008486.

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Elastic elements in series elastic actuator (SEA) will cause residual vibration in position control. Incorporating link-side damping injection and friction compensation, we propose an improved interconnection and damping assignment passivity-based control (IDA-PBC+) method to suppress residual vibration. Damping on the motor side and link side can be adjusted simultaneously. In addition, the desired motor-side trajectory planning and online gravity compensation are also introduced to improve control performance and steady-state accuracy. The effectiveness of the proposed method in suppressing residual vibration is experimentally verified with a two-degree-of-freedom SEA device.

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Wang, Rong-lin, Bao-chun Lu, Yuan-long Hou, and Qiang Gao. "Passivity-Based Control for Rocket Launcher Position Servo System Based on ADRC Optimized by IPSO-BP Algorithm." Shock and Vibration 2018 (2018): 1–14. http://dx.doi.org/10.1155/2018/5801573.

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In order to achieve better motion accuracy and higher robustness of the shipborne rocket launcher position servo system driven by a permanent magnet synchronous motor (PMSM), a passivity-based controller based on active disturbance rejection control (ADRC) optimized by improved particle swarm optimization-back propagation (IPSO-BP) algorithm is proposed in this paper. The convenient method of interconnection and damping assignment and passivity-based control (IDA-PBC) is adopted to establish the port controlled Hamiltonian system with dissipation (PCHD) model of PMSM. To further enhance the robustness and adaptability of traditional ADRC, an BP algorithm is introduced to on-line update the proportional, integral, and derivative gains of ADRC. Furthermore, to improve the learning capability, the improved PSO algorithm is adopted to optimize the learning rates of the back propagation neural networks. The results of numerical simulation and prototype test indicate that the proposed IPSO-BP-ADRC-PBC controller has better static and dynamic performance than the ADRC-PBC and BP-ADRC-PBC controller with fixed learning rate.

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Jörgl, Matthias, Kurt Schlacher, and Hubert Gattringer. "Passivity Based Control of a Cart with Inverted Pendulum." Applied Mechanics and Materials 332 (July 2013): 339–44. http://dx.doi.org/10.4028/www.scientific.net/amm.332.339.

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This paper deals with passivity based control of a cart , which can moves on a skew plain. On the cart a non actuated pendulum is assembled. Therefore, the mechanical system is non-linear, one degree under actuated and instable. The equation of motion is derived by the method of Lagrange. The goal of the control strategy is to stabilize the cart and the upper position of the pendulum. The applied control strategy is called Interconnection Damping Assignment Passivity Based Control (IDA-PBC). This method allows a physical approach with a simple proof of stability having appropriate Lyapunov function on hand. The simple proof of stability is an advantage of this theory. However, the proof of stability is fulfilled, challenging partial differential equation have to be solved to get the control law. Measurements results are presented.

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Montoya, Oscar Danilo, Federico Martin Serra, Walter Gil-González, Eduardo Maximiliano Asensio, and Jonathan Emmanuel Bosso. "An IDA-PBC Design with Integral Action for Output Voltage Regulation in an Interleaved Boost Converter for DC Microgrid Applications." Actuators 11, no. 1 (December 29, 2021): 5. http://dx.doi.org/10.3390/act11010005.

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This paper describes the output voltage regulation control for an interleaved connected to a direct current (DC) microgrid considering bidirectional current flows. The proposed controller is based on an interconnection and damping passivity-based control (IDA-PBC) approach with integral action that regulates the output voltage profile at its assigned reference. This approach designs a control law via nonlinear feedback that ensures asymptotic stability in a closed-loop in the sense of Lyapunov. Moreover, the IDA-PBC design adds an integral gain to eliminate the possible tracking errors in steady-state conditions. Numerical simulations in the Piecewise Linear Electrical Circuit Simulation (PLECS) package for MATLAB/Simulink demonstrate that the effectiveness of the proposed controller is assessed and compared with a conventional proportional-integral controller under different scenarios considering strong variations in the current injected/absorbed by the DC microgrid.

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Hussain, Shafquat, Abualkasim Bakeer, Ihab S. Mohamed, Mario Marchesoni, and Luis Vaccaro. "Comparative Study of Passivity, Model Predictive, and Passivity-Based Model Predictive Controllers in Uninterruptible Power Supply Applications." Energies 16, no. 15 (July 25, 2023): 5594. http://dx.doi.org/10.3390/en16155594.

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Voltage source converters are widely used in distributed generation (DG) and uninterruptible power supply (UPS) applications. This paper aims to find the controller that performs best when model changes occur in the system, showing insensitivity to parameter variations. A comparison of the finite control set model predictive controller (FCS-MPC), interconnection and damping assignment passivity-based controller (IDA-PBC), and passivity-based model predictive control (PB-MPC) reveals that the PB-MPC provides high resistance to these unexpected LC filter changes in the converter. The second aim of the paper is to reduce the total harmonic distortion (THD) of the output voltage of the three-phase voltage source inverter (VSI). A high total harmonic distortion (THD) value exists in the voltage waveform of the three-phase voltage source inverter (VSI), feeding a non-linear load. A MATLAB simulation was performed using three control techniques for a three-phase VSI feeding: linear load, unbalanced load, and non-linear load. The PB-MPC performs better than the FCS-MPC and IDA-PBC in terms of having a low THD value in the output voltage of the converter under all types of applied loads, improving the THD by up to 30%, and having low variation in THD with mismatched filter parameters, as shown in the bar charts in the results section. Overall, the PB-MPC controller improves the robustness under parameter mismatch and reduces the computational burden. PB-MPC reduces the THD value because it integrates power shaping and the injection of damping resistances into the VSI.

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Huang, Min, Zhicheng Zhang, Fan Chen, Weimin Wu, Zhilei Yao, and Frede Blaabjerg. "Stabilization Design of Three-Phase LCL-Filtered Grid-Connected Inverter Using IDA-PBC Controller." International Transactions on Electrical Energy Systems 2022 (April 15, 2022): 1–14. http://dx.doi.org/10.1155/2022/7515321.

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With the aim of improving the stability of renewable energy system with high permeability in the weak grid, a modified passivity-based control based on interconnection and damping assignment (IDA) is presented for LCL-filtered grid-connected inverters to eliminate the interactive resonances. The object is modeled in the form of port-controller Hamiltonian, including the partial differential of stored energy function. On the premise of ensuring Lyapunov stability, a more flexible interconnection matrix design method is applied to simplify the design process. The closed-loop stability is ensured with the selected Hamiltonian energy function at the desired balanced point. Moreover, a step-by-step design process for damping gains is provided to guarantee stable operation and fast dynamic response under variation of complex grid impedance. With the designed injected damping parameters, considering the effect of delay, it is possible for the real part of the inverter output admittance to be positive within the switching frequency. The performance and robustness of the proposed method for LCL-filtered inverter system are validated via simulated and experimental results under both unbalanced and balanced grid conditions.

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Cordero, Gustavo, Víctor Santibáñez, Alejandro Dzul, and Jesús Sandoval. "Interconnection and Damping Assignment Passivity–Based Control of an Underactuated 2–DOF Gyroscope." International Journal of Applied Mathematics and Computer Science 28, no. 4 (December 1, 2018): 661–77. http://dx.doi.org/10.2478/amcs-2018-0051.

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Abstract In this paper we present interconnection and damping assignment passivity-based control (IDA-PBC) applied to a 2 degrees of freedom (DOFs) underactuated gyroscope. First, the equations of motion of the complete system (3-DOF) are presented in both Lagrangian and Hamiltonian formalisms. Moreover, the conditions to reduce the system from a 3-DOF to a 2- DOF gyroscope, by using Routh’s equations of motion, are shown. Next, the solutions of the partial differential equations involved in getting the proper controller are presented using a reduction method to handle them as ordinary differential equations. Besides, since the gyroscope has no potential energy, it presents the inconvenience that neither the desired potential energy function nor the desired Hamiltonian function has an isolated minimum, both being only positive semidefinite functions; however, by focusing on an open-loop nonholonomic constraint, it is possible to get the Hamiltonian of the closed-loop system as a positive definite function. Then, the Lyapunov direct method is used, in order to assure stability. Finally, by invoking LaSalle’s theorem, we arrive at the asymptotic stability of the desired equilibrium point. Experiments with an underactuated gyroscopic mechanical system show the effectiveness of the proposed scheme.

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Wang, Yue, Haisheng Yu, Jinpeng Yu, Herong Wu, and Xudong Liu. "Trajectory Tracking of Flexible-Joint Robots Actuated by PMSM via a Novel Smooth Switching Control Strategy." Applied Sciences 9, no. 20 (October 17, 2019): 4382. http://dx.doi.org/10.3390/app9204382.

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This paper presents the trajectory tracking control of a flexible-joint manipulator driven by permanent magnet synchronous motor (PMSM). Combining the PMSM electrical equation and mechanical equation of robotic manipulators, a novel smooth switching control scheme is proposed. Firstly, the position loop controller of the system is designed, with an improved hierarchical sliding mode control (IHSMC) algorithm proposed to further the response speed of the system, additionally, a robust interconnection and damping assignment passivity-based controller (IDA-PBC) is designed to improve the steady state performance of the system. Then, the IDA-PBC control strategy is leveraged to design the current loop controller of the system, on which basis a hybrid controller with smooth switching is designed. Furthermore, Gaussian function is applied as the smooth switching function of the hybrid controller to promote the switching performance. As a result, the hybrid controller has both good dynamic and steady performance. The simulation results verify the effectiveness of the algorithms.

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Biletskyi, Yurii Olegovych, Ihor Zenonovich Shchur, and Rostyslav-Ivan Kuzyk. "PASSIVITY-BASED CONTROL SYSTEM FOR STAND-ALONE HYBRID ELECTROGENERATING COMPLEX." Applied Aspects of Information Technology 4, no. 2 (June 30, 2021): 140–52. http://dx.doi.org/10.15276/aait.02.2021.2.

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The desire for energy independence presupposes the use of various types of elements for energy generation from renewable sources, for the stand-alone operation of which energy storage devices are required. A power generation complex created in this way must perform a number of tasks that are formed by the energy management system. The control system performs these tasks and ensures proper static and dynamic characteristics of this complex with many inputs and outputs. The results of recent world researches, as well as the authors experience of this work, show that, for creating such control systems, it is advisable to use Passive Based Control (PBC), presenting the control object as a Port-Controlled Hamiltonian (PCH) system. Thanks to the developed method of additional interconnections and damping injection (Interconnection & Damping Assignment - IDA) passive control provides ample opportunities to adjust the control effects, while ensuring the asymptotic stability of the system as a whole. This is particularly useful in the complex system considered in this paper that includes both a hybrid power plant for electricity generation from the sun and wind and a hybrid energy storage unit consisting of the battery and supercapacitor module. This article shows the procedure of PBC system synthesis, according to which three structures of control influence formers (CIF) were designed and investigated. These structures have different combinations of additional interconnections and damping, which allows forming the desired energy flows inside the closed-loop system and therefore provide desired control results. Among them, there are tasks of maintaining voltages on the DC bus and the supercapacitor module at reference levels, and the smoothness of the battery current transients. A comparative simulation studies were performed on a computer model of the power generation complex with synthesized control systems, which was created in the MATLAB/Simulink environment. It showed the efficiency of their work and the advantages of different CIF structures.

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Dong, P., K. W. E. Cheng, and D. H. Wang. "Indirect Adaptive and Interconnection and Damping Assignment Passivity-Based Controller for Constant Power Control in Steady-State of Automotive HID Headlight Electronic Ballast." Journal of Circuits, Systems and Computers 24, no. 03 (February 10, 2015): 1550030. http://dx.doi.org/10.1142/s0218126615500309.

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A detailed controller design for indirect constant power regulation of high intensity discharge (HID) electronic ballast and the experimental implementation of an adaptive passivity-based constant power (PBC) controller has been extensively studied through simulation and the findings are reported in this paper. An indirect method to regulate the inductor current to ensure the lamp constant output power is proposed in order to overcome the difficulties in measuring the output power of the HID ballast. The controller is derived using passivity theory which guarantees global stability and asymptotic convergence of all state errors. The simulation and controller design are based on an average model using the Euler–Lagrange (EL) equations of the system. As the lamp resistance will inevitably change with ageing, an adaptive method is used to compensate for the lamp performance as the lamp ages. This equips the controller the power to adapt to load variations and there is no need to tune the design parameters values each time manually. Another interconnection and damping assignment (IDA)-PBC method is analyzed and simulation results are provided for comparison. Computer simulation and hardware implementation are carried out to verify the system model and to demonstrate the controller is robust.

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Yu, Shuanghe, Lina Jin, Kai Zheng, and Jialu Du. "Continuous Finite-Time Terminal Sliding Mode IDA-PBC Design for PMSM with the Port-Controlled Hamiltonian Model." Mathematical Problems in Engineering 2013 (2013): 1–8. http://dx.doi.org/10.1155/2013/473608.

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Finite-time control scheme for speed regulation of permanent magnet synchronous motor (PMSM) is investigated under the port-controlled Hamiltonian (PCH), terminal sliding mode (TSM), and fast TSM stabilization theories. The desired equilibrium is assigned to the PCH structure model of PMSM by maximum torque per ampere (MTPA) principle, and the desired Hamiltonian function of state error is constructed in the form of fractional power structure as TSM and fast TSM, respectively. Finite-time TSM and fast TSM controllers are designed via interconnection and damping assignment passivity-based control (IDA-PBC) methodology, respectively, and the finite-time stability of the desired equilibrium point is also achieved under the PCH framework. Simulation results validate the improved performance of the presented scheme.

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Medina-Quesada, Ángeles, Walter Gil-González, Oscar Danilo Montoya, Alexander Molina-Cabrera, and Jesus C. Hernández. "Control of Photovoltaic Plants Interconnected via VSC to Improve Power Oscillations in a Power System." Electronics 11, no. 11 (May 31, 2022): 1744. http://dx.doi.org/10.3390/electronics11111744.

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This paper presents an integrated methodology applied to photovoltaic (PV) plants for improving the dynamic performance of electric power systems. The proposed methodology is based on primary frequency control, which adds an ancillary signal to the voltage reference of the DC-link for the voltage source converter (VSC) in order to reduce power oscillations. This ancillary signal is computed by relating the energy stored in the VSC of the DC-link and the energy stored in the synchronous machine’s shaft. In addition, the methodology considers the operating limits of the VSC, which prioritizes active power over reactive power. Furthermore, the VSC control is assessed with interconnection and damping assignment passivity-based control (IDA-PBC), as well as compared to conventional PI control. IDA-PBC is employed to design a Lyapunov asymptotically stable controller using the Hamiltonian structural properties of the open-loop model of the VSC. A 12-bus test system that considers PV plants is employed to compare the proposed IDA-PBC control with a classical proportional-integral control approach. The impact of the proposed methodology is analyzed in four scenarios with different PV penetration levels (10%, 30%, 50%, and 80%) and four large disturbances in the test power system. In addition, a decrease in the inertia of the synchronous machines from 100 to 25% is analyzed. The time-domain simulation results show that the frequency oscillations are reduced by 16.8%, 38.43%, 37.53%, and 76.94% in comparison with the case where the proposed methodology was not implemented. The simulations were conducted using the SimPowerSystems toolbox of the MATLAB/Simulink software.

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Astik, Mitesh B., Dhruv B. Shah, Praghnesh Bhatt, Bhavesh R. Bhalja, and Paresh R. Modha. "Hardware implementation of interconnection and damping assignment passivity-based control for BLDC motor using microcontroller." COMPEL - The international journal for computation and mathematics in electrical and electronic engineering, June 8, 2022. http://dx.doi.org/10.1108/compel-10-2021-0367.

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Purpose The purpose of this paper is to develop a generalized observer and controller for brushless direct current (BLDC) motor to make the system more robust for parameter variations, load torque and speed tracking. Design/methodology/approach A robust interconnection and damping assignment passivity-based control (IDA-PBC) technique for BLDC motor is introduced in this paper. The IDA-PBC is used to obtain the reference voltages for pulse width modulation (PWM) control. The immersion and invariance (I&I) observer is used to estimate the load torque and speed of the BLDC motor. At the time of starting, the motor rotates in arbitrary direction, and sometimes, because of the cogging action, it may take a huge current. Therefore, a new start-up method is proposed for the BLDC motor, which maintains the alignment of the rotor. Findings From the simulation and experimental results, it can be seen that the proposed controller and observer satisfactorily work for parameter variations, load torque and speed tracking. Originality/value The authenticity of the proposed technique is tested experimentally on two different BLDC motors using low-cost 32-bit STM32F407VG microcontroller. The response of the proposed technique is evaluated by changing motor parameters such as stator resistance, inductance, flux linkage constant and torque constant.

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Samanta, Soumya, Saumitra Barman, Jyoti Prakash Mishra, Prasanta Roy, and Binoy Krishna Roy. "Energy management and damping improvement of a DC microgrid with constant power load using interconnection and damping assignment-passivity based control." Transactions of the Institute of Measurement and Control, October 1, 2020, 014233122096082. http://dx.doi.org/10.1177/0142331220960828.

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This paper deals with (i) damping improvement and (ii) energy management of a DC microgrid for improvement of its stability. The direct current (DC) microgrid has a solar-photovoltaic system as a renewable source and fuel cell-battery combination as a backup system to supply power to constant power loads (CPLs). The presence of CPLs in a DC microgrid makes the stability problem more challenging since the negative impedance characteristics of CPLs bring instability into the system. A control approach using interconnection and damping assignment-passivity based control (IDA-PBC) is proposed in this paper to address both the objectives. The proposed control approach provides an efficient energy management, the required damping and also maintains the stability by making the system passive. The tuning parameters of the control laws are adapted incorporating the state of charge (SoC) for the effective energy management. In addition, an integral action is added with the proposed control laws to eliminate the steady-state error in the voltage level of the DC bus and load bus. The proposed IDA-PBC control along with an integral action is compared with four other control approaches, and reveals its better performances. The MATLAB/Simulink results show that the proposed control technique provides better responses in terms of providing damping and effective energy management.

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Wang, Liqiang, Xianqing Wu, Meizhen Lei, and Jingjing Zhu. "A new regulation control method for underactuated 3D overhead cranes." Transactions of the Institute of Measurement and Control, September 15, 2022, 014233122211225. http://dx.doi.org/10.1177/01423312221122575.

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Interconnection and damping assignment passivity-based control (IDA-PBC) has been successfully applied to many mechanical, electrical, and electromechanical systems. For the control of such systems, existing IDA-PBC methods have concentrated on systems with underactuation degree one, such as the ball and beam system, the vertical takeoff and landing aircraft, and the pendulum on a cart. In this paper, we focus on the application of the IDA-PBC methodology to the regulation control of a three-dimensional (3D) overhead crane system with underactuation degree two. The goal of this study is to design and analyze a regulation controller that can drive the cart to the desired position precisely and eliminate the payload swing effectively. To achieve this challenging objective, we first find an ingenious way to solve partial differential equations for constructing a Lyapunov function candidate. Then, we devise a nonlinear controller on the basis of the constructed Lyapunov function and analyze the stability of the closed-loop system by using Lyapunov techniques and LaSalle’s invariance principle. Finally, both simulation and experimental results demonstrate the proposed strategy can achieve excellent positioning accuracy and significant swing elimination, and a comparison study between the proposed method and the existing PBC method is included as well.

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Ebrahimi Bavili, Robab, Ahmad Akbari, and Reza Mahboobi Esfanjani. "Control of Teleoperation Systems in the Presence of Varying Transmission Delay, Non-passive Interaction Forces, and Model Uncertainty." Robotica, January 8, 2021, 1–17. http://dx.doi.org/10.1017/s0263574720001277.

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SUMMARY This paper addresses robust stability and position tracking problems in teleoperation systems subject to varying delay in the communication medium, uncertainties in the models of manipulators, and non-passive interaction forces in the terminations. Fixed-structure nonlinear control law is developed based on the notion of Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) scheme. Then, utilizing the Lyapunov–Krasovskii theorem, sufficient conditions are derived in terms of Linear Matrix Inequalities (LMIs) to tune the controller parameters. Differently from literature, the objectives are achieved without requirement for any passive parts in the model of interaction forces. Comparative simulations and experimental results demonstrate the applicability and superiority of the proposed method.

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Ebrahimi Bavili, Robab, Ahmad Akbari, and Reza Mahboobi Esfanjani. "Control of Teleoperation Systems in the Presence of Varying Transmission Delay, Non-passive Interaction Forces, and Model Uncertainty." Robotica, January 8, 2021, 1–17. http://dx.doi.org/10.1017/s0263574720001277.

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SUMMARY This paper addresses robust stability and position tracking problems in teleoperation systems subject to varying delay in the communication medium, uncertainties in the models of manipulators, and non-passive interaction forces in the terminations. Fixed-structure nonlinear control law is developed based on the notion of Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) scheme. Then, utilizing the Lyapunov–Krasovskii theorem, sufficient conditions are derived in terms of Linear Matrix Inequalities (LMIs) to tune the controller parameters. Differently from literature, the objectives are achieved without requirement for any passive parts in the model of interaction forces. Comparative simulations and experimental results demonstrate the applicability and superiority of the proposed method.

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Zou, Xu, Zhenbao Liu, Qingqing Dang, and Lina Wang. "Stable and accurate tracking control of tail-sitter aircraft in all flight modes." Aircraft Engineering and Aerospace Technology, January 19, 2023. http://dx.doi.org/10.1108/aeat-08-2022-0227.

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Purpose This paper aims to design a global controller that is operational throughout all flight modes and less dependent on an accurate model. Design/methodology/approach By adopting the interconnection and damping assignment passivity-based control (IDA-PBC) technology and compensating extra inputs for handling the unknown dynamics and time-varying disturbances, a model-free control (MFC)-based global controller is proposed. Findings Test results indicate that the designed controllers are more suitable for actual flight as they have smaller position tracking errors and energy consumption in all flight phases than the excellent model-free controller intelligent-PID. Practical implications The designed global controller, which works in all flight modes without adjusting its structure and parameters, can realize a stable and accurate tracking control of a tail-sitter and improve the resistance to unknown disturbances and model uncertainties. Originality/value The newly-designed controller is considered as an enhanced version of the traditional MFC. It further improves the control effect by using the poorly known dynamics of the system and choosing the IDA-PBC as the control auxiliary input. This method eliminates the unnecessary dynamics to continuously stabilize the vehicle with suitable energy consumption covering its entire flight envelope.

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Sistla, Pramod, Krishnan Chemmangat, and Sheron Figarado. "Design and implementation of passivity-based controller for active suspension system using port-Hamiltonian observer." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, January 12, 2023, 095440702211473. http://dx.doi.org/10.1177/09544070221147364.

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The objective of this study is to design and implement an observer for quarter-car active suspension system in Port-Hamiltonian form. A novel state observer is designed for active suspension system modelled in port-Hamiltonian form to estimate the states in presence of road disturbances. The observer is designed considering suspension deflection alone as the output, which is an easily measurable output. Performance of the proposed observer is evaluated experimentally with road disturbance input mimicking a sudden bump and a continuously varying road input, and proven to be effective in minimising the error dynamics in presence of bounded unmodelled disturbances. To prove the effectiveness of the state-estimator, an Interconnection and Damping Assignment Passivity Based Control (IDA-PBC) designed using the desired physical properties of the closed-loop system is implemented using the observer states. Experimental results of the controller implemented using the designed state observer show good improvement in the ride comfort, ride stability and suspension stroke of the active suspension system, which proves the effectiveness of the proposed port-Hamiltonian observer in terms of minimising the error dynamics.

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Naseh, Majid Reza, and Ali Behdani. "Non-Linear Control of Fuel Cell/Ultra-Capacitor Hybrid Electric Vehicle Using Comprehensive Function Algorithm Based on IDA-PBC." Advanced Energy Conversion Materials, February 14, 2023, 1–17. http://dx.doi.org/10.37256/aecm.4120231947.

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Hybrid electric vehicles (HEVs) have become increasingly popular due to their high fuel economy performance and low greenhouse gas emissions. HEVs that use fuel cells produce fewer emissions and are more efficient than many other types of cars. Accordingly, many researchers are significantly interested in applying a combination of the fuel cell (FC) and the ultra-capacitor (UC) for HEVs. This study proposes a method for improving the control of an FC/UC hybrid electric vehicle, also analyzing its performance. In the HEV used, the fuel cell provides the main power, but in transient situations where the FC cannot support the vehicle alone, the UC gives the stored energy to the system to solve the energy deficiency. In this study, the interconnection and damping assignment passivity-based control (IDA-PBC) method is applied and regulates the system performance under nonlinear operation. In addition, a comprehensive energy management strategy proposes to cover all driving cycle situations. The main control objective is to keep the system voltage within an acceptable range despite the appropriate dynamic behavior. To increase the accuracy of the results, in system structure modeling, energy losses are considered. In the case study part, a standard Japanese driving cycle (SJDC) uses, which comprises different practical conditions such as off-load, overload, uphill, and downhill. The simulation results using MATLAB/Simulink show the effectiveness of the proposed algorithm and control method.

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Luo, Ke, Yingying Jiao, and Jiawei Zhu. "Perturbation Observer Based Fractional-Order Control for SMES Systems Based on Jellyfish Search Algorithm." Frontiers in Energy Research 9 (November 12, 2021). http://dx.doi.org/10.3389/fenrg.2021.781774.

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The electric energy storage system (EESS) is considered as an efficient and promising tool to alleviate the power imbalance of grid-connected microgrid with distributed generation (DG). This work develops a perturbation observer-based fractional-order control (POFOC) strategy for superconducting magnetic energy storage (SMES) system. Initially, a high-gain state and perturbation observer (HGSPO) is designed for reliable estimation of the combined impact of the nonlinearities, parameter uncertainties, unmodeled dynamics, and external disturbances of SMES. Then the storage function of an SMES system is designed, which takes favorable terms into serious consideration to sufficiently utilize the physical properties of the SMES system. Moreover, a fractional-order control framework is applied for complete compensation for the estimated perturbation and adopted as the attached input to boost its dynamical responses. Furthermore, a newly proposed jellyfish search algorithm (JSA) is utilized to realize optimization and tuning of control gains of the developed strategy, upon which high-quality global optimum can be obtained to ensure prominent controlling performance. Case studies, e.g., active power and reactive power supply and system restoration capability under power grid fault effectively validate the effectiveness and reliability of the POFOC strategy compared with traditional PID control and interconnection and damping assignment passivity-based controller (IDA-PBC). In particular, the overshoot of PID is 115.264% of the rated value, while POFOC has no overshoot.

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Guilbert, Damien, Babak Nahid-Mobarakeh, Serge Pierfederici, Nicu Bizon, Pongsiri Mungporn, and Phatiphat Thounthong. "Comparative Study of Adaptive Hamiltonian Control Laws for DC Microgrid Stabilization: An Fuel Cell Boost Converter." Applied Science and Engineering Progress, October 12, 2021. http://dx.doi.org/10.14416/j.asep.2021.10.005.

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Future smart grids can be seen as a system of interlinked microgrids, including small-scale local power systems. They consist of main power sources, external loads, and energy storage devices. In these microgrids, the negative incremental impedance behavior of constant power loads (CPLs) is of major concern since it can lead to instability and oscillations. To cope with this issue, this article aims to propose a comparative study of adaptive Hamiltonian control laws, also known as interconnection and damping–assignment–passivity–based controllers (IDA-PBC). These control laws are developed to ensure the stability of the DC output voltage of a boost converter supplied by a proton exchange membrane fuel cell (PEMFC) source. To validate the develop control laws, experiments have been performed on a fit test bench including a real 2.5 kW PEMFC stack (hydrogen is supplied by a reformer engine), a DC-DC step-up circuit, and a real-time controller dSPACE (implementation of the control laws). Moreover, a comparative study has been carried out between the proposed three adaptive Hamiltonian control laws and a classic linear cascaded proportional–integral (PI) control law. The obtained results by simulations through MATLAB/SimulinkTM and experimentally have allowed demonstrating that the third Hamiltonian control law presents the best performances over the other control laws.

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Journal articles on the topic 'Interconnection And Damping Assigning Passivity Based Control (IDA-PBC)'

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