A globally exponentially stable tracking controller for mechanical systems using position feedback

Romero, José Guadalupe; Sarras, Ioannis

doi:10.1109/acc.2013.6580609

Cited by 29 publications

(62 citation statements)

References 11 publications

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“…Let us briefly compare the work of Romero et al and the results in this section. Note that the aforementioned work is dedicated to mechanical systems, whereas in our paper, a rather general class of port‐Hamiltonian systems is considered. Therefore, this comparison is actually between the work of Romero et al and the result of this section.…”

Section: Control Of Mechanical Systems Without Velocity Measurementmentioning

confidence: 88%

“…In this section, we propose an output controller for the general class of mechanical systems. Control design of mechanical systems without velocity measurement is an interesting task; as an example, see the work of Romero et al, in which a regulation controller for mechanical systems without velocity measurement is proposed. In this section, it is shown that via the proposed method, a regulation and tracking controller (without velocity measurement) can easily be designed for mechanical systems.…”

Section: Control Of Mechanical Systems Without Velocity Measurementmentioning

confidence: 99%

“…Note that the aforementioned work is dedicated to mechanical systems, whereas in our paper, a rather general class of port‐Hamiltonian systems is considered. Therefore, this comparison is actually between the work of Romero et al and the result of this section. The convergence type in both of these methods is exponential.…”

Section: Control Of Mechanical Systems Without Velocity Measurementmentioning

confidence: 99%

“…The number of states of observer dynamics of the aforementioned work is equal to twice of the number of states of the main system, whereas the number of states of the observer used in this section is equal to the number of states of the main system. Due to this fact, the method of the work of Romero et al has more computational cost in comparison with the method of Section 5. The whole of output feedback controller of this section has closed form.…”

Section: Control Of Mechanical Systems Without Velocity Measurementmentioning

confidence: 99%

“…The proposed contribution paves the way for using IDA‐PBC in output feedback design. Controller design for mechanical systems without velocity measurement is an interesting task from application viewpoint, see, eg, the work of Romero et al via the proposed method, this task becomes easy for fully actuated systems, for regulation, and even for tracking design.…”

Section: Introductionmentioning

confidence: 99%

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Output control design and separation principle for a class of port‐Hamiltonian systems

Yaghmaei

Yazdanpanah

2018

Intl J Robust & Nonlinear

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Using a structure preserving observer, a dynamic output controller is proposed for a class of port-Hamiltonian systems. The core of this method is based on the notion of contractive port-Hamiltonian systems. The proposed method utilizes an extended form of IDA-PBC (interconnection and damping assignment passivity-based control), a well-known controller design method for port-Hamiltonian systems and paves the way for using IDA-PBC in output control design of challenging control objectives, such as output tracking for underactuated mechanical systems. In the line of output control design, a useful separation principle for a class of port-Hamiltonian systems is achieved, which is valuable in the field of nonlinear systems. Some simulations on magnetic levitation and ball on wheel testbeds show the potency and applicability of the proposed method. KEYWORDSoutput control, port-Hamiltonian systems, structure preserving observer, underactuated mechanical systems Int J Robust Nonlinear Control. 2019;29:867-881. wileyonlinelibrary.com/journal/rnc © 2018 John Wiley & Sons, Ltd. 867 868 YAGHMAEI AND YAZDANPANAHof system structure may obstruct controller design process for underactuated and nonminimum phase systems. The alternate framework is to use and respect nonlinearity in an appropriate way. The passivity-based methods are located in the core of this framework; see the work of Ortega et al 10 as an example for using passivity in output feedback control design. Concept of passivity is highly related to the concept of energy in physical systems. Therefore, an energy-based modeling can gain from the passivity-based methods. Port-Hamiltonian framework is a witness of this fact, which uses and extends the passivity-based methods. Port-Hamiltonian systems consist of a structure, called Dirac structure, which represents the route of energy exchange within the system and with the environment. Another ingredient of these systems is their resistive structure, which models the dynamic behavior of energy dissipative elements of the system. The main component of these systems is their energy function, which is called Hamiltonian. This transparency provides some powerful tools for controller design such as IDA-PBC (interconnection and damping assignment passivity-based control). [11][12][13] Recently, introducing the notion of contractive port-Hamiltonian systems in the work of Yaghmaei and Yazdanpanah 14 has paved the way for using IDA-PBC for tracking purposes. On the other hand, this notion can be used for observer design of port-Hamiltonian systems as shown in the work of Yaghmaei and Yazdanpanah. 15 The proposed observer of the aforementioned work 15 due to its interesting properties can be considered as a dual of IDA-PBC for observer design. One of these properties is that the dynamics of observer for a port-Hamiltonian system is again a port-Hamiltonian system, the fact, which causes the method to be called structure preserving. Simply, the contribution of this paper is to show that the combination of the works of Yaghmaei and...

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Section: Control Of Mechanical Systems Without Velocity Measurementmentioning

confidence: 88%

Section: Control Of Mechanical Systems Without Velocity Measurementmentioning

confidence: 99%

Section: Control Of Mechanical Systems Without Velocity Measurementmentioning

confidence: 99%

Section: Control Of Mechanical Systems Without Velocity Measurementmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Output control design and separation principle for a class of port‐Hamiltonian systems

Yaghmaei

Yazdanpanah

2018

Intl J Robust & Nonlinear

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Observer/Controller With Global Practical Stability for Tracking in Robots Without Velocity Measurement

Driessen¹

2014

Asian Journal of Control

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In this work, a global practical stability (GPS) observer/controller is given for a revolute-jointed multiple degree of freedom robotic plant without velocity measurement and without knowledge of plant parameter values and with a globally bounded disturbance torque. For this considered plant, a global observer/controller that globally drives the combined estimation and position tracking error to a set on which the tracking error can be made arbitrarily small by adjusting parameters/gains of the observer/controller is proposed. For the above-mentioned plant, the current paper is the first GPS result for which the control torque is not an exponential function of a (filtered) tracking error. This paper is also the first global result for which the convergence to the residual set is exponential in time (Global Exponential Practical Stability). The observer update is discontinuous, however, only at isolated time instants. No sliding modes are used. Also, the torque is continuous.

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A Constructive Globally Convergent Adaptive Speed Observer For Port‐Hamiltonian Mechanical Systems with Non‐Holonomic Constraints

Brahim

Kidouche

2018

Asian Journal of Control

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This paper presents an adaptive speed observer for general port-Hamiltonian mechanical systems with non-holonomic constraints in the presence of unknown friction forces and constant disturbances. Unlike the observers recently reported in the literature, which have been designed either under the assumptions of no friction and the absence of disturbances or for a specific class of mechanical systems with the requirement of an explicit solution of certain Partial Differential Equations (PDEs) that cannot be derived a priori, this observer proposes a design that obviates the solution of PDEs and ensures global convergence for general mechanical systems with k-non-holonomic constraints. The observer is totally constructive and given by explicit expressions. The simulation results testify to the effectiveness and the robust features of the developed observer.

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A globally exponentially stable tracking controller for mechanical systems using position feedback

Cited by 29 publications

References 11 publications

Output control design and separation principle for a class of port‐Hamiltonian systems

Output control design and separation principle for a class of port‐Hamiltonian systems

Observer/Controller With Global Practical Stability for Tracking in Robots Without Velocity Measurement

A Constructive Globally Convergent Adaptive Speed Observer For Port‐Hamiltonian Mechanical Systems with Non‐Holonomic Constraints

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