Energy-Based Control Approaches for Weakly Coupled Electromechanical Systems
Fuente:
arXiv
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| Autori principali: | , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| Accesso online: | |
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| _version_ | 1866911952926670848 |
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| author | Javanmardi, N. Borja, P. Yazdanpanah, M. J. Scherpen, J. M. A. |
| author_facet | Javanmardi, N. Borja, P. Yazdanpanah, M. J. Scherpen, J. M. A. |
| contents | This paper addresses the regulation and trajectory-tracking problems for two classes of weakly coupled electromechanical systems. To this end, we formulate an energy-based model for these systems within the port-Hamiltonian framework. Then, we employ Lyapunov theory and the notion of contractive systems to develop control approaches in the port-Hamiltonian framework. Remarkably, these control methods eliminate the need for solving partial differential equations or implementing any change of coordinates and are endowed with a physical interpretation. We also investigate the effect of coupled damping on the transient performance and convergence rate of the closed-loop system. Finally, the applicability of the proposed approaches is illustrated in two applications of electromechanical systems via simulations. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2407_08646 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Energy-Based Control Approaches for Weakly Coupled Electromechanical Systems Javanmardi, N. Borja, P. Yazdanpanah, M. J. Scherpen, J. M. A. Systems and Control This paper addresses the regulation and trajectory-tracking problems for two classes of weakly coupled electromechanical systems. To this end, we formulate an energy-based model for these systems within the port-Hamiltonian framework. Then, we employ Lyapunov theory and the notion of contractive systems to develop control approaches in the port-Hamiltonian framework. Remarkably, these control methods eliminate the need for solving partial differential equations or implementing any change of coordinates and are endowed with a physical interpretation. We also investigate the effect of coupled damping on the transient performance and convergence rate of the closed-loop system. Finally, the applicability of the proposed approaches is illustrated in two applications of electromechanical systems via simulations. |
| title | Energy-Based Control Approaches for Weakly Coupled Electromechanical Systems |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2407.08646 |