Energy-shaping-based nonlinear controller design for rotary cranes with double-pendulum effect considering actuator saturation
Sign Up to like & getrecommendations! Published in 2020 at "Automation in Construction"
DOI: 10.1016/j.autcon.2019.103054
Abstract: Abstract Dynamic performance analysis and controller design become more difficult when the load sway in rotary cranes exhibits double-pendulum characteristics. Furthermore, uncertain parameters and external disturbances in the crane system make it difficult for traditional… read more here.
Keywords: energy shaping; controller design; actuator saturation; controller ... See more keywords
Boundary energy-shaping control of an isothermal tubular reactor
Sign Up to like & getrecommendations! Published in 2017 at "Mathematical and Computer Modelling of Dynamical Systems"
DOI: 10.1080/13873954.2016.1232282
Abstract: ABSTRACT This paper illustrates a general synthesis methodology of asymptotic stabilizing, energy-based, boundary control laws that are applicable to a large class of distributed port-Hamiltonian systems. The methodological results are applied on a simplified model… read more here.
Keywords: energy; isothermal tubular; tubular reactor; energy shaping ... See more keywords
Energy-Shaping Speed Controller With Time-Varying Damping Injection for Permanent-Magnet Synchronous Motors
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Transactions on Circuits and Systems II: Express Briefs"
DOI: 10.1109/tcsii.2020.2992260
Abstract: This brief presents a novel energy-shaping technique-based speed controller for permanent-magnet synchronous motors (PMSMs) considering machine nonlinearities and load and parameter changes. There are three features: The time-varying damping term is injected into the speed… read more here.
Keywords: speed; permanent magnet; synchronous motors; energy shaping ... See more keywords
Using Energy Shaping and Regulation for Limit Cycle Stabilization, Generation, and Transition in Simple Locomotive Systems
Sign Up to like & getrecommendations! Published in 2021 at "Journal of Computational and Nonlinear Dynamics"
DOI: 10.1115/1.4051589
Abstract: This paper explores new ways to use energy shaping and regulation methods in walking systems to generate new passive-like gaits and dynamically transition between them. We recapitulate a control framework for Lagrangian hybrid systems, and… read more here.
Keywords: transition; energy; energy shaping; limit ... See more keywords