Damping Assignment Passivity-based Control Research Articles

Port-Hamiltonian modeling and jumping trajectory tracking control for a bio-inspired quadruped robot

Applying jumping locomotion into autonomous mobile robot is an effective way for improving abilities to overcome barriers and pass through complex terrains. In this paper, based on the designed structural framework for bio-inspired quadruped jumping robot, dynamic model is established by utilizing port-Hamiltonian with dissipation (pHd) method, and a passivity-based control strategy for the robot joints trajectory tracking is presented. First, morphology and biomimetics knowledges of frogs (a kind of animals with excellent jumping skill) motivate us to complete a bio-inspired jumping robot framework based on frog’s motion mechanism and body structure with torsional springs as energy storage device. Then, combining system passivity and dissipation, port-Hamiltonian method is utilized to build a dynamic model for expressing the relationship of energy and force in the designed robot. Jumping process analysis of different stages is also designed for ensuring the robot to complete taking-off and landing stages successfully. Next, with the definition of extending feasible robotic joint trajectory by La Salle invariant set principle, interconnection and damping assignment passivity-based control (IDA-PBC) method is exerted to obtain a trajectory controller for realizing smoothly and stably trajectory tracking in joint space. At last, simulation results show the reasonableness of the designed framework. By comparing our method with state-feedback and sliding mode control, effectiveness of the dynamic model and trajectory controller is also verified.

Fixed-time [formula omitted] tracking control of unmanned underwater vehicles with disturbance rejection via Port-Hamiltonian framework

The fixed-time tracking control schemes of unmanned underwater vehicles (UUVs) are investigated in body-fixed coordinates frame based on Port-Hamiltonian (PH) model with external disturbances. The novel locally and globally fixed-time control laws via the interconnection and damping assignment passivity-based control (IDA-PBC) are designed for trajectory tracking in UUVs. The virtual desired equilibria consisted of the tracking error and the desired trajectory are established by the matching conditions. Moreover, the fixed-time stabilization of the UUV induced of variable parameter matrixes is analyzed. Compared with the traditional IDA-PBC controller, the UUV is guaranteed to achieve the reference trajectory within a fixed time regardless of initial conditions. In the presence of external disturbances, the H∞ laws are incorporated in the fixed-time control for the UUV, which can ensure faster trajectory tracking and strong anti-disturbance. Finally, the simulation results demonstrate the effectiveness of the main schemes.

Decentralized Control of DC Microgrids Using Interconnection and Damping Assignment Passivity-Based Control Technique: Experimental Verification

Decentralized Control of DC Microgrids Using Interconnection and Damping Assignment Passivity-Based Control Technique: Experimental Verification

Stabilization of Robots With Actuator Constraints via Interconnection and Damping Assignment

Actuator limitations hinder high-performance control of robotic manipulators. The problem is particularly challenging in case of underactuated robots where the issue has received less attention. In this brief, we investigate stabilization of manipulators under input constraints via total energy shaping. For this purpose, we use interconnection and damping assignment passivity-based control (IDA-PBC) together with an optimization technique to keep actuator torque close to allowable limits. Using a subsequent technique, the actuator torques are ensured to stay within the specified bounds for special classes of manipulators. The results are verified through simulations on a 2 degree-of-freedom (DOF) SpiderCrane. Moreover, experiments on a cable-driven robot (CDR) demonstrate performance of the proposed method.

An Adaptive Controller Based on Interconnection and Damping Assignment Passivity-Based Control for Underactuated Mechanical Systems: Application to the Ball and Beam System

In this paper, an adaptive technology and the interconnection and damping assignment passivity-based control method are combined to solve the stabilization problem for underactuated mechanical systems with uncertainties (including matched and unmatched). These uncertainties include unknown friction coefficients and unknown terms in kinetic energy and potential energy. A novel adaptive interconnection and damping assignment passivity-based control scheme is proposed and an adaptive stabilization controller is designed to make the closed-loop system locally stable. Verification is conducted on the ball and beam system. The locally asymptotic stability is demonstrated using the LaSalle’s invariance principle and approximate linearization. The effectiveness of the proposed control law is verified through numerical simulations.

Two layer control strategy of an island DC microgrid with hydrogen storage system

In this paper, a two-layer hierarchical control strategy for an isolated DC microgrid with a hybrid energy storage system is considered. The DC microgrid studied is composed of a short-term battery energy storage system, long-term hydrogen-based energy storage system and renewable energy resources. The proposed control strategy, combines concepts of Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) as a primary level and Model Predictive Control (MPC) as a supervisory level. The IDA-PBC layer guarantees a correct power balance and ensures global stability according to Lyapunov theory, considering the non-linear behavior of the physical system. On the other hand, the MPC layer calculates the reference signals for the primary level, ensuring null stationary error in the desired variables. As known, it is important to keep the electrolyzer, the fuel cell and the batteries in a safe operating mode to increase their useful life and guarantee the quality of the hydrogen produced. In this sense, the benefits of MPC are exploited by considering system constraints in the controller design. The main objective of the two-layer control strategy is to ensure the supply of electrical energy to the loads and quality in the electrical variables of the network. Representative simulation results under demanding conditions verify the effectiveness of combining IDA-PBC and MPC for this class of problems.

A Robust Damping Control for Virtual Synchronous Generators Based on Energy Reshaping

Virtual synchronous generators (VSGs) have been proved to be important means to provide the inertia for future power systems. However, it suffers the issue of active power oscillation under various disturbances. In this paper, a robust damping control is proposed to mitigate the active power oscillation by reshaping the oscillation energy of VSGs. The paper first represents the power-angle dynamics of VSGs as an equivalent circuit and thus enables the understanding of oscillations from the circuit energy. It is revealed that the active power oscillation can be comprehended as an LC resonance and the damping provided by the traditional VSG is commonly insufficient. To tackle this issue, a robust damping method is proposed using interconnection and damping assignment passivity-based control (IDA-PBC). The theory of IDA-PBC is established based on the concept of energy reshaping, which guarantees the state tracking via its intrinsic energy dissipation characteristics. The IDA-PBC, when applied to VSGs, is a combination of the disturbance compensation via feedforward channels and the deviations regulation through feedback paths. Noticeably, the disturbance compensation is achieved with the support of an extended state observer (ESO), which can accurately estimate the lumped disturbance including the grid frequency variation and the model uncertainties. A guideline on the parameter selection is also provided through Bode-plot analysis. Finally, the effectiveness and merits of the proposed method is verified by hardware in the loop-based experiments with the comparison to the state of art work.

Performance analysis of distributed power systems using error dynamics passive output feedback control

This paper presents a novel control approach for integrated converters using Exact Tracking Error Dynamics Passive Output Feedback control and Exact Static Error Dynamics Passive Output Feedback control. By continuously injecting active distributed power systems (DPS) power sources into the utility grid and loads, the approach reduces harmonic current distortion and maintains unity for the grid’s power factor. The paper compares existing control methods, such as P, PI, proportional–integral–derivative (PID), energy structuring and damping infusion and interconnection and damping assignment—passivity-based control and considers the impacts of instantaneous fluctuations in reference current elements on the AC side and oscillations in DC voltage generated by the DC-link voltage. Relevant switching state functions are designed, and if the maximum power can be fed exceeds the required power from grid-connected loads, the true, reactive, and harmonic current elements of loads are adjusted dynamically, resulting in in-phase sinewave grid currents. The performance analysis is performed using MATLAB/Simulink, and a smaller research prototype is built and discussed.

Fixed-Time Control for a Class of Nonlinear PH-DAE Systems

The globally fixed-time stabilization and <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$H_{\infty}$</tex-math> </inline-formula> control for the port-Hamiltonian differential algebraic equation (PH-DAE) is addressed by applying the structural properties of the port-Hamiltonian (PH) systems, and the interconnection and damping assignment passivity-based control (IDA-PBC) technique. For fixed-time control design of the differential algebraic equation systems, the main obstacle lies that the algebraic variables are hidden in the system and their dynamics are ambiguous. We propose an available and effective approach to overcome this obstacle. The system variables are decomposed into differential component and the algebraic component, and the explicit representation of the dynamics of algebraic component is obtained. Fist, we investigate the locally fixed-time stabilization control as well as globally attractive for PH-DAE. Second, we focus on solving the globally fixed-time stabilization and <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$H_{\infty}$</tex-math> </inline-formula> control problems by jointly taking advantage of the locally fixed-time stabilization control for the origin and the globally fixed-time attractivity control for a predeterminate region. Finally, in order to address fixed-time stabilization control and <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$H_{\infty}$</tex-math> </inline-formula> control for PH-DAE, new controllers are designed. Moreover, the convergence time of systems can be easily estimated after external disturbance vanishes. The efficiency of the theoretical results acquired in present article is verified via two examples with numerical simulation.

Comparative Study of Passivity, Model Predictive, and Passivity-Based Model Predictive Controllers in Uninterruptible Power Supply Applications

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.

Stabilization of a class of underactuated parallel robots via energy shaping: Application to cable driven manipulators

In this brief paper, potential energy shaping of underactuated parallel robots (UPRs) based on the method called interconnection and damping assignment passivity-based control (IDA-PBC) is presented. To this aim, to assign a new Hamiltonian to the closed-loop system, due to fewer actuators than degrees of freedom, a set of partial differential equations (PDEs) related to assigning a desired potential energy should be solved analytically, which are basically the stumbling block of IDA-PBC approach. Although in UPRs, the input mapping matrix is complex and configuration-dependent, a general solution for the potential energy PDE is derived such that it is independent of degrees of underactuation.

A Maneuvering Model for an Underwater Vehicle Near a Free Surface—Part III: Simulation and Control Under Waves

This article incorporates free-surface and ambient wave effects into a nonlinear parametric model. Subsequently, its use is demonstrated via simulation of a scale model submarine maneuvering under the control of a nonlinear depth-keeping control system in a seaway. An energy-based model is presented, which represents the underactuated submarine in a free-surface-affected state. This model is then used to synthesize a control law using port-Hamiltonian theory and interconnection and damping assignment passivity-based control. The Lyapunov analysis is used to study the stability of the closed-loop system, and a simulation-based demonstration illustrates the performance of the control law. The results demonstrate that a closed-loop nonlinear controller is able to improve the quality of near-surface depth keeping by automatically compensating for parasitic effects in the hydrodynamics that can compromise depth-keeping performance during maneuvers.

A new robust SIDA-PBC approach to control a DFIG

Credible control and overall stabilization of closed-loop nonlinear systems presented in a port-controlled hamiltonian structure (PCH-D) were forever the development of the simultaneous interconnection and damping assignment passivity-based control (SIDA-PBC) method. The robustness and reliability of the method called into question against noise and certainly modelling errors. Indeed, a new scheme has been presented to control a doubly fed induction generator (DFIG) based on the energy form and exploiting the electrical parameters of the closed loop system. The results obtained provide a new technique and implement more freedom when designing the diagram of the advanced controller during the production of active power. The contribution of this paper is researching on the advanced nonlinear methodes used, many simulations were carried out in simulation using the MATLAB/Simulink environment under important operating conditions, allowing to demonstrate the feasibility of the proposed method and verify the performance considering the robustness.

Direct Power Control of a Shunt Active Power Filter Using a Modified IDA–PBC Approach With Integral Action

A direct power based controller designed using a modified interconnection and damping assignment passivity-based control (IDA-PBC) with integral action is proposed in this paper for a shunt active power filter (SAPF). A power based model of the SAPF is proposed and it is described as a port-Hamiltonian model. Then, an extended port Hamiltonian system is proposed including an integral action to compensate for parameter errors and unmodeled uncertainties. From this model, a complete matching equation for the extended system is proposed, and a modified IDA-PBC with integral action is employed to design a power-based controller for a SAPF.

Non-Linear Control of Fuel Cell/Ultra-Capacitor Hybrid Electric Vehicle Using Comprehensive Function Algorithm Based on IDA-PBC

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.

Stable and accurate tracking control of tail-sitter aircraft in all flight modes

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.

A new regulation control method for underactuated 3D overhead cranes

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.

Hardware implementation of interconnection and damping assignment passivity-based control for BLDC motor using microcontroller

PurposeThe 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/approachA 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.FindingsFrom 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/valueThe 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.

Control of Photovoltaic Plants Interconnected via VSC to Improve Power Oscillations in a Power System

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.

Memristor‐based disturbance rejection control for port‐Hamiltonian systems with locally fixed‐time convergence

The memristor is added to the port-Hamiltonian systems to improve the disturbance suppression performance in this paper. The concepts of locally fixed-time stability and locally fixed-time H ∞ $H_{\infty }$ control of port-Hamiltonian systems are presented. From this starting point, two novel memristor-based locally fixed-time controllers are designed to suppress the external disturbance of port-Hamiltonian systems via the interconnection and damping assignment passivity-based control technique. Comparing with the classical interconnection and damping assignment passivity-based control methodology without memristor, there are some advantages. First, the settling-time related to the memristor-based controllers in stabilizing the same port-Hamiltonian systems are shorter. Second, the memristor-based controllers can make the oscillation in the case of the strong periodic disturbance be better suppressed. Theoretical analysis shows that the memristor-based controller possesses good disturbance rejection performance owing to it can make the system states in a neighbourhood accelerate convergence to the desired equilibrium point. Two illustrative examples show that the theoretical results and the controllers designed in this paper work very well.