Passivity-Based Tracking Controllers for Mechanical Systems with Active Disturbance Rejection

Romero, José Guadalupe; Donaire, Alejandro; Navarro-Alarcon, David; Ramirez, Victor

doi:10.1016/j.ifacol.2015.10.226

Cited by 7 publications

(6 citation statements)

References 14 publications

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“…In Dirksz and Scherpen (2010), the previous approach is extended to an adaptive control one. In Romero et al (2015a) and similarly in Romero et al (2015b), a generalized canonical transformation is used to obtain a particular pH system which is partially linear in the momentum with constant inertia matrix. The control scheme is then proposed to give a pH structure for the closed-loop error system.…”

Section: Introductionmentioning

confidence: 99%

Tracking Control of Fully-actuated port-Hamiltonian Mechanical Systems via Sliding Manifolds and Contraction Analysis

2017

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In this paper, we propose a trajectory tracking controller for fully-actuated portHamiltonian (pH) mechanical systems, which is based on recent advances in contraction analysis and differential Lyapunov theory. The tracking problem is solved by defining a suitable invariant sliding manifold which provides a desired steady state behavior. The manifold is then made attractive via contraction techniques. Finally, we present numerical simulation results where a SCARA robot is commanded by the proposed tracking control law.

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Section: Introductionmentioning

confidence: 99%

Tracking Control of Fully-actuated port-Hamiltonian Mechanical Systems via Sliding Manifolds and Contraction Analysis

2017

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“…Therefore, studies on the disturbance rejection for PH systems have attracted considerable attention. In recent years, several elegant methods have been proposed, such as adaptive control (AC) [10], integral control (IC) [11,12], sliding mode control (SMC) [13], disturbance observer-based control (DOBC) [14][15][16], and active disturbance rejection control (ADRC) [17], etc. However, these control methods have their own shortcomings or limitations.…”

Section: Introductionmentioning

confidence: 99%

“…(i) Compared with the existing disturbance rejection schemes [10][11][12][13][14][15][16][17], the memritor-based method does not sacrifice its nominal control performance. The disturbance rejection is supplied by a state-dependent memristor, which is almost as straightforward as the inclusion of resistive elements to the original PH system.…”

Section: Introductionmentioning

confidence: 99%

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

Liu

Zhao

2022

IET Control Theory & Appl

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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.

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“…It is also shown that each of these controllers exhibit different structural and convergent properties. Among the differences with the related works (Dirksz and Scherpen 2010, Romero, Ortega and Sarras 2015, Romero, Donaire, Navarro-Alarcon and Ramirez 2015 and references therein, it is pointed out that in this work it is not necessary to perform a preliminary change of coordinates in de control design process.…”

Section: Contribution Of the Thesismentioning

confidence: 87%

“…For mechanical pH systems, in the works of (Dirksz and Scherpen 2010) and (Romero, Donaire, Navarro-Alarcon and Ramirez 2015), a GCT is used to obtain a pH system which is linear in the momentum with constant inertia matrix; resulting in a quasilinear system. The tracking control scheme is then proposed to preserve the quasi-linear a pH structure for the closed-loop error system.…”

Section: Tracking Control Of Mechanical Port-hamiltonian Systemsmentioning

confidence: 99%

Virtual contraction and passivity based control of nonlinear mechanical systems: trajectory tracking and group coordination

Reyes‐Báez

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who always challenged me to go further. I also would like to thank to the reading committee Prof.dr.ir. Jacquelien Scherpen, Prof.dr. Rafal Wisniewski and Prof.dr. Ian Manchester, for their nice comments and feedback of my thesis document. I am also grateful to Prof.dr. Henk Broer, Prof.dr.ir. Nathan van de Wouw, Prof.dr. Claudio de Persis, Dr. Hildeberto Jardón-Kojakhmetov and Dr.ir. Bart Besselink for accepting being part of the PhD committee. 2 Er gaat niets boven Groningen! To my paranymphs and beloved friends Pablo Borja and Alain Govaert, for their unconditional friendship and companionship during the different stages of my PhD time. The friendship with Pablo goes back to October 2013, when we meet during the Mexican Congress of Automatic Control in Ensenada Baja California, which was the first control conference for the both of us; remarkably, we did not meet at the conference itself but at the Mexican control scientists favorite networking spot, the Hussongs Cantina. On the other hand, I had the pleasure of meeting Alain when he started his PhD studies, first as classmate during the Mondays of DISC courses in Utrecht, and later as friend. I keep a lots of good memories with him exploring the different social spots in Groningen, networking sessions at the Benelux meetings on systems and control, and the recent trip to the ECC 2019 in Naples Italy. I also thank Alain's fellowship and effort for motivating me to do sports; it did not work though hehe. He is my best Dutch friend. Since probably it will take too long if I thank person per person, I want to thank in general to all the members and former members of the Jan C. Willems for Systems

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Passivity-Based Tracking Controllers for Mechanical Systems with Active Disturbance Rejection

Cited by 7 publications

References 14 publications

Tracking Control of Fully-actuated port-Hamiltonian Mechanical Systems via Sliding Manifolds and Contraction Analysis

Tracking Control of Fully-actuated port-Hamiltonian Mechanical Systems via Sliding Manifolds and Contraction Analysis

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

Virtual contraction and passivity based control of nonlinear mechanical systems: trajectory tracking and group coordination

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