657 Results Found

Passivity-based nonlinear control for an isolated microgrid system is proposed in this paper. The microgrid consists of a photovoltaic array and a battery energy storage connected to a point of common converters, supplying a constant power load. The...

This paper presents a passivity-based control (PBC) design methodology for three-phase voltage source inverters (VSI) for uninterruptable power supply (UPS) systems where reduced harmonic distortions for the nonlinear load, reduced output voltage ove...

The passivity-based control (PBC) is a new direction of nonlinear control, but the method is basically a qualitative method. A quantifiable design method in combination with PBC is provided in this paper. To solve the partial differential equation (P...

This paper describes the output voltage regulation control for an interleaved connected to a direct current (DC) microgrid considering bidirectional current flows. The proposed controller is based on an interconnection and damping passivity-based con...

Inverters are important interfaces between micropower sources and consuming loads. However, the varying inductors and capacitors, modeling errors, measurement errors, and external disturbances would lead to degradation of the inverters’ perform...

It is commonly known that the performance of an electrostatic microelectromechanical system (MEMS) device is limited to a specific range of the full gap distance due to the inherited “pull-in instability” phenomenon. In this work, we desi...

This paper presents an adaptive control to stabilize the output voltage of a DC–DC boost converter that feeds an unknown constant power load (CPL). The proposed controller employs passivity-based control (PBC), which assigns a desired system en...

Voltage source inverters are extensively used in the grid connection of renewable energy-sourced generators, and multilevel converters, in particular, have attracted a great deal of attention in recent years. This paper investigates the application o...

The problem of the output voltage regulation in a DC-DC boost converter feeding a DC microgrid is addressed in this research via the passivity-based control theory with a proportional–integral action (PI-PBC). Two external input estimators were...

Stay cables exhibit both great slenderness and low damping, which make them sensitive to resonant phenomena induced by the dynamic character of external actions. Furthermore, for these same reasons, their modal properties may vary significantly while...

This paper shows the dynamic modeling and design of a passivity-based controller for the RV-3SB robot. Firstly, the dynamic modeling of a Mitsubishi RV-3SB robot is conducted using Euler–Lagrange formulation in order to obtain a decoupled dynam...

Passivity-based control is widely used in electronic circuit systems because it can utilize their internal structures to facilitate the controller design. In this paper, we first propose a dissipative Hamiltonian realization of power systems and disc...

In this paper, we propose adaptive nonlinear controllers for the Single-Ended Primary Inductance Converter (SEPIC). We also consider four distinct situations: AC-DC, DC-DC, Continuous Conduction Mode (CCM) and Discontinuous Conduction Mode (DCM). A c...

This paper proposes a hybrid control scheme that combines fractional-order sliding-mode control (FOSMC) with radial basis function neural network adaptive damping passivity-based control (RBFPBC) for modular multilevel converters (MMC) under non-idea...

The current paper considers discrete stochastic inertial neural networks (SINNs) with reaction diffusions. Firstly, we give the difference form of SINNs with reaction diffusions. Secondly, stochastic synchronization and passivity-based control frames...

This paper presents a nonlinear velocity observer of tether deployment using the immersion and invariance technique, and the velocity observer design problem is recast as a problem of designing an attractive and invariant manifold inside the Hamilton...

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 unmatch...

This paper proposes a distributed passivity-based control scheme for the consensus and vibration suppression of multiple space manipulators holding flexible beams. A space manipulator holding a flexible beam is essentially a rigid–flexible unde...

This paper discusses an observer-based control problem for uncertain Takagi–Sugeno Fuzzy Singular Systems (T-SFSS) subject to passivity performance constraints. Through the Parallel Distributed Compensation (PDC) approach and the Proportional D...

The three-phase Y-connected bridgeless rectifier is essentially a nonlinear system, and it is difficult to obtain superior dynamic performance under the action of traditional linear controller. Under the condition of unbalanced power grids, this pape...

Higher efficiency, predictability, and high-power density are the main advantages of a permanent magnet synchronous generator (PMSG)-based hydro turbine. However, the control of a PMSG is a nontrivial issue, because of its time-varying parameters and...

The motivation and focus of this work is to generate passive transfer function matrices that model the radiation forces for an array of WECs. Multivariable control design is often based on linear time-invariant (LTI) systems such as state-space or tr...

DC-DC converters with constant power loads are mostly used in DC microgrids. Negative impedance and large disturbances of constant power loads may lead to the instability of DC-DC converters. To address this issue, a nonlinear control strategy consis...

This study uses a port-Hamiltonian framework to address trajectory tracking control for unmanned surface vessels (USVs) under unknown disturbances. A passivity-based sliding mode controller is designed, integrating adaptive disturbance estimation and...

The problem of voltage regulation in unknown constant resistive loads is addressed in this paper from the nonlinear control point of view for second-order DC-DC converters. The converters’ topologies analyzed are: (i) buck converter, (ii) boost conve...

A new passivity-based voltage tracker for islanded Direct Current (DC) microgrids is presented in this paper. The proposed design develops a new sufficient condition for passivity-based state feedback with proportional and integral control using the...

This paper addresses the problems of valve-turning operation in rescue environments where a wheeled mobile manipulator (WMM) is employed, including the possible occurrence of large internal forces. Rather than attempting to obtain the exact position...

In the domain of passivity theory, there were major contributions in the last decade, the most recent notion of passivity being the so-called Krasovskii passivity. This framework offers the possibility of designing a controller which ensures the pass...

A dual active bridge (DAB) converter in a modular three-port DC converter is the key equipment to connect distributed energy and energy storage units and realize its efficient and large-scale utilization. When a DAB converter with traditional control...

In this paper the development and practical implementation of a Passivity-Based Control (PBC) algorithm to stabilize an Unmanned Aerial Vehicle (UAV) described with unit quaternions are presented. First, a mathematical model based on Euler-Lagrange f...

To improve the static performance, dynamic performance, and current balance of a current-source PWM rectifier with multi-modules, a comprehensive control method with passivity-based control and current balance control is proposed in this paper. Curre...

This paper presents a passivity-based control (PBC) based on the Euler–Lagrange (EL) model for dual active bridge (DAB) converters in the constant power load (CPL) condition. The EL model, which is derived from Kirchhoff’s current equatio...

The multi-frequency Passivity-Based Control (PBC) has been successfully applied in L-filtered power converters. For an LC-filtered stand-alone voltage source inverter (VSI), the mathematical model is second-order, where two state variables are used i...

Here, we explore the possibility of employing proportional-integral passivity-based control (PI-PBC) to support active and reactive power in alternating current (AC) distribution networks by using a supercapacitor energy storage system. A direct powe...

This paper presents the trajectory tracking control of a flexible-joint manipulator driven by permanent magnet synchronous motor (PMSM). Combining the PMSM electrical equation and mechanical equation of robotic manipulators, a novel smooth switching...

The rapid advancement of more electric aircraft technology has led to the widespread integration of non-linear loads into aircraft power supply systems. Passivity-based control (PBC) is a well-established method for enhancing system stability. Howeve...

This paper presents a passivity-based twisting sliding mode control (PBSMC) approach for series elastic actuators (SEAs). To address the time-varying position trajectory tracking control problem in SEAs, a fourth-order dynamic model is developed to a...

This article proposes a nonlinear control strategy to address the voltage instability issue caused by the boost converter with an uncertain constant power load (CPL). This strategy combines a passivity-based controller (PBC) with a virtual DC motor c...

In this paper, a passivity-based control (PBC) scheme for output voltage regulation in a fuel-cell/boost converter system is designed and validated through real-time numerical results. The proposed control scheme is designed as a current-mode control...

This paper presents an end-to-end method to design passivity-based controllers (PBC) for a class of input-affine nonlinear systems, named quasi-linear affine. The approach is developed using Krasovskii’s method to design a Lyapunov function for study...

The main contribution of this paper is to propose an adaptive reduced-order state observer for boost converter to reconstruct the inductor current and load conductance. Note that the unknown parameter appears in the output dynamics, which poses a det...

This paper presents a controller design to track speed, position, and torque trajectories for a permanent magnet synchronous motor (PMSM). This scheme is based on the interconnection and damping assignment passivity-based control (IDA-PBC) technique...

This study presents the design and performance evaluation of an adaptive control system for a biped robot with five degrees of freedom. The primary goal is to achieve stable and accurate control despite uncertainties in the robot’s dynamic para...

This paper is devoted to studying the passivity-based sliding mode control for nonlinear systems and its application to dock cranes through an adaptive neural network approach, where the system suffers from time-varying delay, external disturbance an...

Satellite formation flying technology currently represents a focal point in space mission research. Traditional spacecraft payload performance and lifespan are often constrained by propellant limitations. Electromagnetic Formation Flying (EMFF), a pr...

The full-information state feedback controller is usually used for regulating the output voltage of converters. Sufficient sensors should be adopted to measure all of the states. However, the extensive use of current sensors not only increases the co...

Force-controlled series elastic actuators (SEA) are widely used in novel human-robot interaction (HRI) applications, such as assistive and rehabilitation robotics. These systems are characterized by the presence of the “human in the loop”, so that co...

This paper deals with longitudinal motion control of electric vehicles (EVs) driven by in-wheel-motors (IWMs). It shows that the IWM-EV is fundamentally a multi-agent system with physical interaction. Three ways to model the IWM-EV are proposed, and...

This paper presents a passivity-based control (PBC) approach integrated with filtering for a supercapacitor (SC) in a semi-active hybrid energy storage system. The PBC is designed as a current controller using the reference provided by the filter to...

Nonlinear power-level control of nuclear reactors can guarantee wide-range closed-loop stability that is positive for plant load-following capability. Nuclear reactor power dynamics are the tight interconnection of both neutron kinetics and thermal h...