Interconnection And Damping Assignment Passivity-based Control Research Articles

Control IDA-PBC de un Vehículo Submarino Subactuado

<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>

Novel Energy Management Technique for Hybrid Electric Vehicle via Interconnection and Damping Assignment Passivity Based Control

Abstract The energy management of Hybrid Electric Vehicles (HEV) has witnessed significant academic and industrial attention in recent years. Indeed, the use of different power sources in HEV requires both smart and efficient energy management scheme to split and manage power among them. The energy management strategy should enable continuous supply load balance. In HEVs, the energy management procedure should consider the constraints of load and the different available sources. The fundamental contribution of this paper is the energy management in the HEV in presence of faults in the fuel cell (FC) level while considering battery state of charge constraints. For the flexibility and durability of the proposed energy management scheme, the system mathematical modeling using Port-Controlled Hamiltonian (PCH) approach is developed. Therefore, the Interconnection and Damping Assignment Passivity Based Control (IDA-PBC) is used for a smartly energy management. According to the simulation results, the IDA-PBC is an adequate nonlinear control method that guarantees the stability of the system.

IDA‐PB control with integral action of Y‐connected modular multilevel converter for fractional frequency transmission application

Y-connected modular multilevel converter (Y-MMC) is a new topology of direct AC/AC power conversion, with broad application prospects in fractional-frequency transmission system. This study studies the mathematical model of Y-MMC and builds the port-controlled Hamiltonian model. Since vector control scheme can hardly ensure global stability, the interconnection and damping assignment passivity-based control (IDA-PBC) method is applied for controller design of Y-MMC. Three typical IDA-PBC strategies are then proposed, featuring the asymptotical stability of the desired equilibrium. To eliminate steady-state error, integrators are further added to the IDA-PB controller. Different from the previous research, the proposed method enables the decoupling of different-frequency components and the suppression of frequency leakage. Besides, the reactive power distribution coefficients are introduced to characterise the optimisation allocation of reactive power between arms. Finally, the effectiveness and superiority of the proposed control strategy are verified by both the simulation and experiment results.

Passivity-Based Control of a Doubly Fed Induction Generator System under Unbalanced Grid Voltage Conditions

According to the theory of passivity-based control (PBC), this paper establishes a port-controlled Hamiltonian system with dissipation (PCHD) model for a doubly fed induction generator (DFIG) system under unbalanced grid voltage conditions and proposes a method of interconnection and damping assignment passivity-based control (IDA-PBC) of the system under such conditions. By using this method, the rotor-side converter and grid-side converter can be controlled simultaneously in order to improve fault ride-through capability of the DFIG system. Simulation results indicate that this IDA-PBC strategy effectively suppresses fluctuations of output current and power in the DFIG system during unbalanced grid voltage sag/swell, enhances dynamic performance, and improves the robustness of the system.

Trajectory tracking for a class of contractive port Hamiltonian systems

In this paper, a class of contractive port Hamiltonian systems is characterized. Having wide range of applications, Port Hamiltonian systems match IDA-PBC (Interconnection and Damping Assignment Passivity Based Control) framework, as a powerful design technique. Through utilization of contraction properties of port Hamiltonian systems, an approach which stems from IDA-PBC is proposed for tracker design of such systems. In the line of showing the applicability and superiority of the proposed approach, it is applied to an electromechanical system, i.e., magnetic levitation.

Eigenstructure assignment for the position regulation of a fully-actuated marine craft

In this paper, we adopt eigenstructure assignment in order to assist with the tuning of a nonlinear energy-based regulator for the positioning of a marine craft in the horizontal plane. The control law is designed using interconnection and damping assignment passivity-based control (IDA-PBC), which results in passive target dynamics that can be expressed as a port-Hamiltonian system (PHS). IDA-PBC has been applied before with success in a number of different applications. To date, however, there has been minimal development in either tuning tools or techniques that can analytically aid the designer in achieving the desired response characteristics. Good results can be achieved only with intuitive and meticulous manual tuning. By linearising the nonlinear target dynamics in PHS form, we demonstrate that the analysis of the eigenstructure, and consequently its assignment can significantly aid the tuning process. The approach provides a mechanism for simultaneously considering the frequency domain characteristics at a point of linearisation, as well as the time domain characteristics. A demonstration of the method is provided in the form of a design study for position regulation of an underwater vehicle in the horizontal plane.

Robustness enhancement of IDA-PBC controller in stabilising the inertia wheel inverted pendulum: theory and real-time experiments

ABSTRACTImproving the robustness, vis-à-vis matched input disturbances of interconnection and damping assignment, passivity based control (IDA-PBC) for a class of underactuated mechanical systems is addressed in this paper. The characterised class of systems is described by a Port Controlled Hamiltonian (PCH) model which represents another alternative to the classical Euler–Lagrange models for which IDA–PBC yields a smooth stabilising controller. Our main contribution consists of combining the so-called IDA-PBC controller with an adaptive control technique. Some sufficient stability conditions on matched input disturbances are given. In order to estimate the stability and performance robustness of both controllers, a stochastic robustness analysis was used. Indeed, we used the Monte Carlo simulation (MCS) based on uncertainties to analyse the behaviour of the closed-loop system. The comparison of the stability robustness between the classical IDA-PBC controller and the proposed one is then provided. As an illustration, we proposed to revisit the application of IDA-PBC controller to the inertia wheel inverted pendulum in the presence of matched disturbances. Simulation and real-time experimental results mirror the theoretical results and prove the efficiency of the proposed controller.

Self-generated limit cycle tracking of the underactuated inertia wheel inverted pendulum under IDA-PBC

This paper deals with the tracking approach of a self-generated stable limit cycle for an underactuated mechanical system: The inertia wheel inverted pendulum (IWIP). Such system is subject to unilateral constraints limiting its swing motion. It is known that an interconnection and damping assignment passivity-based control (IDA-PBC) can be employed to control such pendulum to its upright position. In this work, we briefly show first that the IWIP can generate a stable period-1 limit cycle through a Hopf bifurcation by varying some gain parameter of the IDA-PBC. Thus, such self-generated limit cycle is used as a reference trajectory, which is chosen to be tracked by the IWIP. To achieve the tracking problem, a supplementary control input is added. Such tracking problem is reformulated as an asymptotic stabilization of the tracking error. Our fundamental approach hinges mainly on the use of the S-procedure to introduce the unilateral constraints, and the Schur complement and the matrix inversion lemma to transform bilinear matrix inequalities into linear matrix inequalities. Several simulations have been presented to corroborate the mathematical results and to show the efficiency of the proposed tracking scheme of the self-generated stable limit cycle of the controlled IWIP, even if it is subject to external disturbances, or in the presence of uncertainties in the friction parameters.

Plasma internal profile control using IDA-PBC: Application to TCV

In this paper, new results of plasma ι-profile and β control on TCV, using total plasma current Ip, and ECCD (Electron Cyclotron heating and Current Drive) heating source have been discussed. The control model is governed by the resistive diffusion equation coupled with the thermal transport equation, written in PCH (Port-Controlled Hamiltonian) formulation. The IDA-PBC (Interconnection and Damping Assignment – Passivity based Control) controller is developed and tested on simulation as well as on TCV real plant. Two test scenarios are considered: ι control only, and ι and β control. The spatial distributions of ECCD profiles are pre-defined and only input powers are used for control design. Thus, a stationary control is defined in order to consider all non-linearity and actuator constraint, and a linear feedback IDA-PBC will ensure the convergence speed and the robustness of the closed-loop system. The obtained results are encouraging towards using routinely such plasma advanced control algorithm in a near future.

Swing-attenuation for a quadrotor transporting a cable-suspended payload

This paper presents the problem of safe and fast transportation of packages by an Unmanned Aerial Vehicle (UAV) kind quadrotor. A mathematical model and a control strategy for a special class of underactuated mechanical systems, composed of a quadrotor transporting a cable-suspended payload, are proposed. The Euler-Lagrange formulation is used to obtain the dynamic model of the system, where the integrated dynamics of the quadrotor, cable and payload are considered. An Interconnection and Damping Assignment-Passivity Based Control (IDA-PBC) is chosen because of its inherent robustness against parametric uncertainty and unmodeled dynamics. Two cases are considered to obtain two different control laws, in the first case, the designed control law depends on the swing angle of the payload, in the second case the control law does not depend on it. The control objective is to transport the payload from point to point, with swing reduction along trajectory. Experimental results using monocular vision based navigation are shown to evaluate the proposed control law.

Energy Based 3D Autopilot for VTOL UAV Under Guidance & Navigation Constraints

Motion control design plays a crucial role in autonomous vehicles. Mainly, these systems operate in conditions of under-actuation, which make the control a serious task especially in presence of practical constraints. The main objective within this paper is to ensure the tracking of 3D reference trajectory overcoming some of the issues related to the control of multi-rotor vehicles (such as underactuation, robustness, limited power, accuracy, overshoot, etc.). Therefore, a control scheme for Vertical Take Off and Landing (VTOL) multi-rotor Unmanned Aerial Vehicle (UAV) is designed, applying the Interconnection and Damping Assignment-Passivity Based Control (IDA-PBC) technique. As reference model based technique, the control specifications are readily met by fixing a desired dynamic model, which is a major advantage of the technique. Moreover, a port −controlled Hamiltonian representation is exploited in order to point out the physical properties of the system such as its internal energy. This latter is exploited, as a fitness function for an optimization algorithm, in order to decrease the consumed energy especially at the take-off step and allows the tuning of the controller parameters. The numerical simulations have shown satisfactory results that support the claims using nominal system model or disturbed model. The designed controller has been implemented on a real vehicle for which one demonstrates, in an indoor area manipulation, the effectiveness of the proposed control strategy.

Simultaneous interconnection and damping assignment passivity-based control of mechanical systems using dissipative forces

To extend the realm of application of the well known controller design technique of interconnection and damping assignment passivity-based control (IDA-PBC) of mechanical systems two modifications to the standard method are presented in this article. First, similarly to Batlle et al. (2009) and Gómez-Estern and van der Schaft (2004), it is proposed to avoid the splitting of the control action into energy-shaping and damping injection terms, but instead to carry them out simultaneously. Second, motivated by Chang (2014), we propose to consider the inclusion of dissipative forces, going beyond the gyroscopic ones used in standard IDA-PBC. The contribution of our work is the proof that the addition of these two elements provides a non-trivial extension to the basic IDA-PBC methodology. It is also shown that several new controllers for mechanical systems designed invoking other (less systematic procedures) that do not satisfy the conditions of standard IDA-PBC, actually belong to this new class of SIDA-PBC.

A simplified IDA-PBC design for underactuated mechanical systems with applications

We develop a method to simplify the partial differential equations (PDEs) associated to the potential energy for interconnection and damping assignment passivity based control (IDA-PBC) of a class of underactuated mechanical systems (UMSs). Solving the PDEs, also called the matching equations, is the main difficulty in the construction and application of the IDA-PBC. We propose a simplification to the potential energy PDEs through a particular parametrization of the closed-loop inertia matrix that appears as a coupling term with the inverse of the original inertia matrix. The parametrization accounts for kinetic energy shaping, which is then used to simplify the potential energy PDEs and their solution that is used for the potential energy shaping. This energy shaping procedure results in a closed-loop UMS with a modified energy function. This approach avoids the cancellation of nonlinearities, and extends the application of this method to a larger class of systems, including separable and non-separable port-controlled Hamiltonian (PCH) systems. Applications to the inertia wheel pendulum and the rotary inverted pendulum are presented, and some realistic simulations are presented which validate the proposed control design method and prove that global stabilization of these systems can be achieved. Experimental validation of the proposed method is demonstrated using a laboratory set-up of the rotary pendulum. The robustness of the closed-loop system with respect to external disturbances is also experimentally verified.

Transient Stability and Voltage Regulation in Multimachine Power Systems Vis-à-Vis STATCOM and Battery Energy Storage

This paper examines the application of STATCOM and battery energy storage to enhance the transient stability of large-scale multimachine power systems with synchronous and doubly-fed induction generators (DFIGs). A passivity-based control design method [interconnection and damping assignment passivity-based control (IDA-PBC)] is developed for multimachine power systems and its performance is evaluated on a two-area system consisting of two synchronous generators (SGs) and two DFIG along with STATCOM/battery energy storage system. The main contributions of this paper are threefold: 1) use of a STATCOM and battery energy storage system to enhance transient stability and provide voltage regulation with SG and DFIG; 2) demonstrating the application of nonlinear control theory (specifically the IDA-PBC methodology) for the design of a stabilizing feedback controller in large-scale power systems to improve transient system performance; and 3) developing a methodology that can use the additional degrees of freedom in large-scale power systems in order to further improve system performance, in particular the transient stability margin [measured through critical clearing time (CCT)] and the dynamic transient performance of the system. In order to achieve power angle stability along with the simultaneous regulation of frequency and voltage, the performance of the proposed control scheme after the occurrence of large disturbances is evaluated and compared with a conventional power system stabilizer and a feedback linearizing controller.

Constructive Interconnection and Damping Assignment for Port-Controlled Hamiltonian Systems

The Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) problem for port-controlled Hamiltonian systems is revisited. We propose a methodology that exploits the novel notion of algebraic solution of the so-called matching equation. This notion is instrumental for the construction of an energy function, defined on an extended state-space, which does not rely upon the solution of any partial differential equation. This yields, differently from the classical solution, a dynamic state feedback that stabilizes a desired equilibrium point. In addition, conditions that allow to preserve the port-controlled Hamiltonian structure in the extended closed-loop system are provided. The theory is validated on two physical systems: the magnetic levitated ball and a third order food-chain system. A dynamic control law is constructed for both these systems by assigning a damping factor that cannot be assigned by the classical IDA-PBC.

On the method of interconnection and damping assignment passivity-based control for the stabilization of mechanical systems

Interconnection and damping assignment passivity-based control (IDA-PBC) is an excellent method to stabilize mechanical systems in the Hamiltonian formalism. In this paper, several improvements are made on the IDA-PBC method. The skew-symmetric interconnection submatrix in the conventional form of IDA-PBC is shown to have some redundancy for systems with the number of degrees of freedom greater than two, containing unnecessary components that do not contribute to the dynamics. To completely remove this redundancy, the use of quadratic gyroscopic forces is proposed in place of the skew-symmetric interconnection submatrix. Reduction of the number of matching partial differential equations in IDA-PBC and simplification of the structure of the matching partial differential equations are achieved by eliminating the gyroscopic force from the matching partial differential equations. In addition, easily verifiable criteria are provided for Lyapunov/exponential stabilizability by IDA-PBC for all linear controlled Hamiltonian systems with arbitrary degrees of underactuation and for all nonlinear controlled Hamiltonian systems with one degree of underactuation. A general design procedure for IDA-PBC is given and illustrated with examples. The duality of the new IDA-PBC method to the method of controlled Lagrangians is discussed. This paper renders the IDA-PBC method as powerful as the controlled Lagrangian method.

IDA-PB control design for VSC-HVDC transmission based on PCHD model

SUMMARY An interconnection and damping assignment passivity-based (IDA-PB) control design is proposed to improve the dynamic performance of voltage source converter high-voltage direct current (VSC-HVDC) system. The port-controlled Hamiltonian with dissipation (PCHD) model for voltage source converter (VSC) is developed according to the PCHD equation, and the strict passivity of the PCHD model is proved. On the basis of the PCHD model, a desired energy function is constructed by assigning interconnection and damping matrix and used as Lyapunov function. Then the IDA-PB control is designed according to desired equilibrium point, state variables, and IDA-PB control principle. By using this type of controller, the influence of the equivalent resistance of the VSC direct current side on the VSC-HVDC system is eliminated. The effectiveness of the proposed IDA-PB control is demonstrated through simulation studies on a two-terminal VSC-HVDC system by PSCAD/EMTDC software. The simulation results show that the controller has significant contribution to improve the dynamic behavior of the VSC-HVDC system under a variety of operation conditions. Copyright © 2014 John Wiley & Sons, Ltd.

IDA-PBC control for the coupled plasma poloidal magnetic flux and heat radial diffusion equations in tokamaks

The IDA-PBC control of plasma dynamics in a tokamak is investigated. It is based on a model made of the two coupled PDEs of resistive diffusion for the magnetic poloidal flux and of radial thermal diffusion. The used Thermal-Magneto-Hydro-Dynamics (TMHD) couplings are the Lorentz forces (with non-uniform resistivity) and the bootstrap current. The control model is obtained with the coupling of the two finite dimensional approximations obtained from the two diffusion models, using two geometric reduction schemes. A feedforward control is used to ensure the compatibility with the actuator physical ability. Then, an IDA-PBC (Interconnection and Damping Assignment - Passivity Based Control) controller is proposed for the coupled model to improve the system stabilization and convergence speed. The obtained numerical results are validated against the simulation data obtained from the RAPTOR (RApid Plasma Transport simulatOR) code for the TCV (Tokamak of Configuration Variable at CRPP, EPFL, Lausanne, Switzerland) tokamak real-time control system.

Interconnection and Damping Assignment Control via Reinforcement Learning

Interconnection and Damping Assignment Passivity Based Control (IDA-PBC) is a nonlinear state-feedback control approach which can be used for stabilization and tracking control of a wide range of physical systems. Among many variants of this technique, algebraic IDA-PBC is by far the simplest method as it involves differential-algebraic equations rather than partial-differential equations. However, the equations are generally under-determined and the possible solutions for the unknown elements are non trivial. This issue becomes more evident for tasks on nonlinear systems, for example, swing-up and stabilization of a pendulum or stabilization of electro-mechanical systems. In this paper we mitigate some of the difficulties of algebraic IDA-PBC by using Reinforcement learning. Thanks to the robustness properties of learning the resulting learning based algorithm is insensitive to model uncertainties. We demonstrate the usefulness of the proposed learning algorithm both by simulations and through experimental validation.

Research on a Nonlinear Control Strategy for Three-Phase Voltage Sources PWM Rectifier with Resistive and Inductive Load

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.